Christian Burri
This program is for an autonomous robot for the competition at the Hochschule Luzern. http://cruisingcrepe.wordpress.com/ We are one of the 32 teams. http://cruisingcrepe.wordpress.com/ The postition control is based on this Documentation: Control of Wheeled Mobile Robots: An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. For more information see here: http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf
Fork of
autonomous Robot Android
by 
Christian Burri
Revision 18:306d362d692b, committed 2013-05-03
- Comitter:
- chrigelburri
- Date:
- Fri May 03 08:35:29 2013 +0000
- Parent:
- 16:b5d949136a21
- Child:
- 19:b2f76b0fe4c8
- Commit message:
- androidADB successfully linking
Changed in this revision
--- a/AndroidADKTerm/AndroidAccessory/AndroidAccessory.cpp Fri Apr 26 06:36:57 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,323 +0,0 @@
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#include "USBHost.h"
-#include "AndroidAccessory.h"
-#include "mbed.h"
-
-AndroidAccessory* _adk;
-
-void AdkreadCallback(int device, int endpoint, int status, u8* buf, int len, void* userData);
-void AdkwriteCallback(int device, int endpoint, int status, u8* buf, int len, void* userData);
-
-
-
-AndroidAccessory::AndroidAccessory(int rbuffsize,int wbuffsize,
- const char* manufacturer,
- const char *model,
- const char *description,
- const char *version,
- const char *uri,
- const char *serial
- ) {
-
- _adk=this;
-
- this->manufacturer=manufacturer;
- this->model=model;
- this->description=description;
- this->version=version;
- this->uri=uri;
- this->serial=serial;
-
- u32 len;
- u8* p=USBGetBuffer(&len);
- if (len<(rbuffsize+wbuffsize+255)) {
- error("buff size too big.please resize max=%d. currentSize=%d\r\n",len,(rbuffsize+wbuffsize+255));
- }
-
- _readbuff=p;
- _readbuffsize=rbuffsize;
- p+=rbuffsize;
- _writebuff=p;
- _writebuffsize=wbuffsize;
- p+=wbuffsize;
- _strbuff=p;
- p+=255;
-
-}
-
-
-
-int AndroidAccessory::write(u8 *buff, int len) {
- log("AndroidAccessory::write ");
- // __disable_irq();
- int ret=USBBulkTransfer(_device,output_ep,buff,len,AdkwriteCallback,this);
- // __enable_irq();
- log("--ret=%d \r\n",ret);
- return ret;
-}
-int AndroidAccessory::writeNC(u8 *buff, int len) {
- log("AndroidAccessory::write ");
- // __disable_irq();
- int ret=USBBulkTransfer(_device,output_ep,buff,len);
- // __enable_irq();
- log("--ret=%d \r\n",ret);
- return ret;
-}
-
-
-
-int AndroidAccessory::read(u8 *buff, int len) {
- // if(_initok==false)return 0;
-
- log("AndroidAccessory::read ");
- // __disable_irq();
- int ret=USBBulkTransfer(_device,input_ep|0x80,buff,len);
- // __enable_irq();
- log("--ret=%d \r\n",ret);
- return ret;
-}
-
-
-void AndroidAccessory::init(int device, int configuration, int interfaceNumber) {
-
- log("AndroidAccessory::init \r\n");
-
-// _initok=false;
- _device = device;
- _configuration = configuration;
- _interfaceNumber = interfaceNumber;
- printf("device = %d configuration = %d interfaceNumber = %d\r\n", device, configuration, interfaceNumber);
- int err;
-
- u8* buffer=_strbuff;
- err = GetDescriptor(_device,DESCRIPTOR_TYPE_CONFIGURATION,0,buffer,4);
-
- if (err < 0) {
- log("Failed to get descriptor\r\n");
- return;
- }
-
-
- int len = buffer[2] | (buffer[3] << 8);
- if (len > 255) {
- log("config descriptor too large\n");
- /* might want to truncate here */
- return;
- }
- err = GetDescriptor(_device,DESCRIPTOR_TYPE_CONFIGURATION,0,buffer,len);
- u8* p = buffer;
- input_ep=0;
- output_ep=0;
- EndpointDescriptor *epDesc;
- while (p<(buffer+len)) {
- u8 descLen = p[0];
- u8 descType = p[1];
- log("descLen=%d,descType=%d\r\n",descLen,descType);
- switch (descType) {
- case DESCRIPTOR_TYPE_CONFIGURATION:
- log("config desc\r\n");
- break;
- case DESCRIPTOR_TYPE_INTERFACE:
- log("interface desc\r\n");
- break;
- case DESCRIPTOR_TYPE_ENDPOINT:
- epDesc=(EndpointDescriptor*)p;
- if (!input_ep && (epDesc->bEndpointAddress& 0x80)) {
- input_ep=epDesc->bEndpointAddress& 0x7f;
- //PacketSize drop
- log("input Endpoint address=%d,wMaxPacketSize=%d,bmAttributes=%d\r\n",input_ep,epDesc->wMaxPacketSize,epDesc->bmAttributes);
-
- } else if (!output_ep) {
- output_ep=epDesc->bEndpointAddress& 0x7f;
- //PacketSize drop
- log("output Endpoint address=%d,wMaxPacketSize=%d,bmAttributes=%d\r\n",input_ep,epDesc->wMaxPacketSize,epDesc->bmAttributes);
- } else {
- //other
- log("non input,output Endpoint address=%d,wMaxPacketSize=%d,bmAttributes=%d\r\n",input_ep,epDesc->wMaxPacketSize,epDesc->bmAttributes);
- }
- break;
- default:
- log("unkown desc type(%d) \r\n",descType);
- }
- p+=descLen;
- }
-
- if (!(input_ep && output_ep)) {
- log("can't find accessory endpoints\r\n");
- return;
- }
-
- log("SetConfiguration\r\n");
- err = SetConfiguration(device,configuration);
- if (err < 0) {
- log("SetConfiguration error\r\n");
- return;
- }
-
-
- log("interrupt setup\r\n");
- //interrupt setup
- if (_readbuff==NULL || _readbuffsize<=0) {
- error("_readbuffer error please setup buffer call setReadBuffer function\r\n");
- }
-
- if (IO_PENDING!=USBBulkTransfer(_device,input_ep|0x80,_readbuff,_readbuffsize,AdkreadCallback,this))
- return;
-
-
- log("setupDevice\r\n");
- this->setupDevice();
-// _initok=true;
-}
-
-
-
-bool AndroidAccessory::switchDevice(int device) {
-
- if (1==getProtocol(device)) {
- log("device supports protocol 1\r\n");
-
- } else {
- log("could not read device protocol version\r\n");
- return false;
- }
-
-
- sendString(device,ACCESSORY_STRING_MANUFACTURER,manufacturer);
- sendString(device,ACCESSORY_STRING_MODEL,model);
- sendString(device,ACCESSORY_STRING_DESCRIPTION,description);
- sendString(device,ACCESSORY_STRING_VERSION,version);
- sendString(device,ACCESSORY_STRING_URI,uri);
- sendString(device,ACCESSORY_STRING_SERIAL,serial);
- USBControlTransfer(device,
- HOST_TO_DEVICE |REQUEST_TYPE_VENDOR|RECIPIENT_DEVICE,
- ACCESSORY_START,
- 0,//value
- 0, //index
- 0,
- 0,
- 0,
- 0 );
-
- wait_ms(4);
- //reset usb host
- USBInit();
-
- return true;
-
-}
-
-
-int AndroidAccessory::getProtocol(int device) {
- s16 data=-1;
- USBControlTransfer(device,
- DEVICE_TO_HOST|REQUEST_TYPE_VENDOR|RECIPIENT_DEVICE,
- ACCESSORY_GET_PROTOCOL,
- 0,//value
- 0, //index
- (u8*)&data,
- 2,
- 0,
- 0 );
- return data;
-
-}
-
-void AndroidAccessory::sendString(const char *str) {
- sendString(_device,1,str);
-
-}
-
-void AndroidAccessory::sendString(int device, int index, const char *str) {
-
- LOG("send_string start(%d,%d,%s) %d \r\n",device,index,str,strlen(str)+1);
- strcpy((char*)_strbuff,str);
- //thankyou curryman san
- USBControlTransfer(device,
- HOST_TO_DEVICE|REQUEST_TYPE_VENDOR|RECIPIENT_DEVICE,
- ACCESSORY_SEND_STRING,
- 0,//value
- index,
- _strbuff,
- strlen(str)+1
- );
-
- LOG("send_string end(%d,%d,%s)\r\n",device,index,str);
-
-}
-
-
-/** from USBHost load function. initialize Android device**/
-void OnLoadDevice(int device, DeviceDescriptor* deviceDesc, InterfaceDescriptor* interfaceDesc) {
- printf("LoadDevice %d %02X:%02X:%02X\r\n",device,interfaceDesc->bInterfaceClass,interfaceDesc->bInterfaceSubClass,interfaceDesc->bInterfaceProtocol);
- char s[128];
-
- for (int i = 1; i < 3; i++) {
- if (GetString(device,i,s,sizeof(s)) < 0)
- break;
- printf("%d: %s\r\n",i,s);
- }
-
- //for android ADK
- if ( ( deviceDesc->idVendor != 0x18D1 ||
- ( deviceDesc->idProduct != 0x2D00 && deviceDesc->idProduct != 0x2D01))
- &&_adk->switchDevice(device)) {
-
- printf(" try to change accmode.interfaceDesc->bInterfaceClass=%d\r\n",interfaceDesc->bInterfaceClass);
- //1th root
- //accmode_support=true;
- printf("accessory mode ok.\r\n");
- return;
- }
-
- if (deviceDesc->idVendor == 0x18D1 &&
- (deviceDesc->idProduct == 0x2D00 || deviceDesc->idProduct == 0x2D01)) {
- //2th root
- printf("connecting Android.\r\n");
- printf("idVender=%x idProduct=%x interfaceDesc->bInterfaceClass=%d\r\n",deviceDesc->idVendor,deviceDesc->idProduct,interfaceDesc->bInterfaceClass);
- _adk->init(device,1,0);
- //_AdkUSB.loop();
- return;
- }
-}
-
-void AdkreadCallback(int device, int endpoint, int status, u8* buf, int len, void* userData) {
- log("AdkreadCallback(int device=%d, int endpoint=%x, int status=%d, u8* buf=%p, int len=%d, void* userData=%p)\r\n",
- device,endpoint,status,buf,len,userData);
-// __disable_irq();
- AndroidAccessory* t = (AndroidAccessory*)userData;
- if (status!=0 && status!=8) {
- log("adk end.\r\n");
- t->adkEnd();
-// __enable_irq();
- USBInit();
- return;
- }
-
-
- //virtual method run
- t->callbackRead(buf,len);
-
- USBBulkTransfer(device, endpoint , buf, len, AdkreadCallback, userData);
-
-// wait_ms(4);
-// __enable_irq();
-}
-
-
-
-
-void AdkwriteCallback(int device, int endpoint, int status, u8* buf, int len, void* userData) {
-
- log("AdkwriteCallback(int device=%d, int endpoint=%x, int status=%d, u8* buf=%p, int len=%d, void* userData=%p)\r\n",
- device,endpoint,status,buf,len,userData);
-
- AndroidAccessory* t = (AndroidAccessory*)userData;
- t->callbackWrite();
- //wait_ms(4);
- //USBBulkTransfer(device, endpoint , buf, len, AdkwriteCallback, userData);
-}
-
--- a/AndroidADKTerm/AndroidAccessory/AndroidAccessory.h Fri Apr 26 06:36:57 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,195 +0,0 @@
-/* mbed AndroidAccessory Library
- * Created by p07gbar from work by Makoto Abe
- *
- */
-#ifndef ADK_H_INCLUDED
-#define ADK_H_INCLUDED
-
-#include "mbed.h"
-#include "USBHost.h"
-
-
-//#define ADKLOG 1
-#if ADKLOG
-#define LOG(...) printf(__VA_ARGS__)
-#define Log(...) printf(__VA_ARGS__)
-#define log(...) printf(__VA_ARGS__)
-
-#else
-#define LOG(...) do {} while(0)
-#define Log(...) do {} while(0)
-#define log(...) do {} while(0)
-
-#endif
-
-#define ACCESSORY_STRING_MANUFACTURER 0
-#define ACCESSORY_STRING_MODEL 1
-#define ACCESSORY_STRING_DESCRIPTION 2
-#define ACCESSORY_STRING_VERSION 3
-#define ACCESSORY_STRING_URI 4
-#define ACCESSORY_STRING_SERIAL 5
-
-#define ACCESSORY_GET_PROTOCOL 51
-#define ACCESSORY_SEND_STRING 52
-#define ACCESSORY_START 53
-
-
-
-/** An AndroidAccessory control class
- *
- * It allows easy creation of a mbed android ADK accessory, with minimal low level fussing.
- * Base code should have methods resetDevice(), setupDevice(), callbackRead(u8 *buff, int len) and callBackWrite() functions
- *
- */
-
-class AndroidAccessory {
-public:
-
-
-
-/** Create a AndroidAccessory object
- *
- * Create a AndroidAccessoryobject with specified buffer sizes and infomation
- *
- * @param rbuffsize The size of the read buffer
- * @param wbuffsize The size of the write buffer
- * @param manufacturer The manufacturer of the accessory
- * @param model The model of the accessory
- * @param description A short description of the accessory
- * @param version The current version of the accessory
- * @param uri Some data to go with the accessory (URL or more description)
- * @param serial The serial number of the accessory
- */
- AndroidAccessory(int rbuffsize,int wbuffsize,
- const char* manufacturer,
- const char *model,
- const char *description,
- const char *version,
- const char *uri,
- const char *serial
- );
-
- /** Init the device
- * This is meant to be implimented by the user of the class
- *
- * @param device Device number
- * @param configuration Configuration
- * @param interfaceNumber Inteface number
- */
- virtual void init(int device, int configuration, int interfaceNumber);
-
-/** Reset the device
- * This is meant to be implimented by the user of the class
- *
- */
- virtual void resetDevice()=0;
-
-/** Setup the device
- * This is meant to be implimented by the user of the class. Called when the device is first intialised
- *
- */
- virtual void setupDevice()=0;
-
- /** Callback on Read
- * This is meant to be implimented by the user of the class. Called when some data has been read in.
- *
- * @param buff The buffered read in data
- * @param len The length of the packet recived
- *
- */
- virtual int callbackRead(u8 *buff, int len)=0;
-
- /** Callback after Write
- * This is meant to be implimented by the user of the class. Called when the write has been finished.
- *
- */
- virtual int callbackWrite()=0;
-
- /** Write over USB
- * This sends the data in the buffer over USB in a packet
- *
- * @param buff The buffer to write out
- * @param len The length of the packet to send
- *
- */
- int write(u8 *buff, int len);
-
-/** Write over USB
- * This sends the data in the buffer over USB in a packet, sends _writebuff and _writebuffsize
- *
- */
- int write() {
- return write(_writebuff,_writebuffsize);
- }
-
- /** Write over USB with no callback
- * This sends the data in the buffer over USB in a packet, waits until the packet is sent, rather than doing a callback
- *
- * @param buff The buffer to write out
- * @param len The length of the packet to send
- *
- */
- int writeNC(u8 *buff, int len);
-
- /** Write over USB
- * This sends the data in the buffer over USB in a packet, waits until the packet is sent, rather than doing a callback, sends _writebuff and _writebuffsize
- *
- */
- int writeNC() {
- return writeNC(_writebuff,_writebuffsize);
- }
-
- /** Read the buffer USB
- * This sends the data in the buffer over USB in a packet, waits until the packet is sent, rather than doing a callback
- *
- * @param buff The buffer to read into
- * @param len The length of the packet to read in
- *
- * @param returns The number of bytes read
- *
- */
- int read(u8 *buff, int len);
-
-
- void adkEnd() {
- // _initok=false;
- resetDevice();
- }; //if connection close
- bool switchDevice(int device);
-
- //buffer
- u8* _readbuff;
- int _readbuffsize;
- u8* _writebuff;
- int _writebuffsize;
- u8* _strbuff;//255bytes;
- void sendString(const char *str);
-
-private:
-
- void sendString(int device, int index, const char *str);
- int getProtocol(int device);
-
- const char *manufacturer;
- const char *model;
- const char *description;
- const char *version;
- const char *uri;
- const char *serial;
-
- //endpoints
- int input_ep;
- int output_ep;
-
- int _device;
- int _configuration;
- int _interfaceNumber;
-
- //bool _initok;
-
-};
-
-extern AndroidAccessory* _adk; //declared in cpp
-
-
-#endif
\ No newline at end of file
--- a/AndroidADKTerm/AndroidAccessory/USBHost/USBHost.cpp Fri Apr 26 06:36:57 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1093 +0,0 @@
-
-/*
-Copyright (c) 2010 Peter Barrett
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-*/
-
-
-
-#include "mbed.h"
-#include "USBHost.h"
-#ifndef USBHOST_LOG
-
-
-// Config (default uses x bytes)
-#define MAX_DEVICES 8 // Max number of devices
-#define MAX_ENDPOINTS_TOTAL 16 // Max number of endpoints total
-#define MAX_ENDPOINTS_PER_DEVICE 8 // Max number of endpoints for any one device
-
-//#define USBLOG 1
-#if USBLOG
-#define LOG(...) printf(__VA_ARGS__)
-#else
-#define LOG(...) do {} while(0)
-#endif
-
-// USB host structures
-
-#define USB_RAM_SIZE 16*1024 // AHB SRAM block 1 TODO MACHINE DEPENDENT
-#define USB_RAM_BASE 0x2007C000
-
-#define TOKEN_SETUP 0
-#define TOKEN_IN 1
-#define TOKEN_OUT 2
-
-// Status flags from hub
-#define PORT_CONNECTION 0
-#define PORT_ENABLE 1
-#define PORT_SUSPEND 2
-#define PORT_OVER_CURRENT 3
-#define PORT_RESET 4
-#define PORT_POWER 8
-#define PORT_LOW_SPEED 9
-
-#define C_PORT_CONNECTION 16
-#define C_PORT_ENABLE 17
-#define C_PORT_SUSPEND 18
-#define C_PORT_OVER_CURRENT 19
-#define C_PORT_RESET 20
-
-typedef struct {
- u8 bm_request_type;
- u8 b_request;
- u16 w_value;
- u16 w_index;
- u16 w_length;
-} Setup;
-
-
-// Hub stuff is kept private just to keep api simple
-int SetPortFeature(int device, int feature, int index);
-int ClearPortFeature(int device, int feature, int index);
-int SetPortPower(int device, int port);
-int SetPortReset(int device, int port);
-int GetPortStatus(int device, int port, u32* status);
-
-//===================================================================
-//===================================================================
-// Hardware defines
-
-// HcControl
-#define PeriodicListEnable 0x00000004
-#define IsochronousEnable 0x00000008
-#define ControlListEnable 0x00000010
-#define BulkListEnable 0x00000020
-#define OperationalMask 0x00000080
-#define HostControllerFunctionalState 0x000000C0
-
-// HcCommandStatus
-#define HostControllerReset 0x00000001
-#define ControlListFilled 0x00000002
-#define BulkListFilled 0x00000004
-
-// HcInterruptStatus Register
-#define WritebackDoneHead 0x00000002
-#define StartofFrame 0x00000004
-#define ResumeDetected 0x00000008
-#define UnrecoverableError 0x00000010
-#define FrameNumberOverflow 0x00000020
-#define RootHubStatusChange 0x00000040
-#define OwnershipChange 0x00000080
-#define MasterInterruptEnable 0x80000000
-
-// HcRhStatus
-#define SetGlobalPower 0x00010000
-#define DeviceRemoteWakeupEnable 0x00008000
-
-// HcRhPortStatus (hub 0, port 1)
-#define CurrentConnectStatus 0x00000001
-#define PortEnableStatus 0x00000002
-#define PortSuspendStatus 0x00000004
-#define PortOverCurrentIndicator 0x00000008
-#define PortResetStatus 0x00000010
-
-#define PortPowerStatus 0x00000100
-#define LowspeedDevice 0x00000200
-#define HighspeedDevice 0x00000400
-
-#define ConnectStatusChange (CurrentConnectStatus << 16)
-#define PortResetStatusChange (PortResetStatus << 16)
-
-
-#define TD_ROUNDING (u32)0x00040000
-#define TD_SETUP (u32)0x00000000
-#define TD_IN (u32)0x00100000
-#define TD_OUT (u32)0x00080000
-#define TD_DELAY_INT(x) (u32)((x) << 21)
-#define TD_TOGGLE_0 (u32)0x02000000
-#define TD_TOGGLE_1 (u32)0x03000000
-#define TD_CC (u32)0xF0000000
-
-// HostController EndPoint Descriptor
-typedef struct {
- volatile u32 Control;
- volatile u32 TailTd;
- volatile u32 HeadTd;
- volatile u32 Next;
-} HCED;
-
-// HostController Transfer Descriptor
-typedef struct {
- volatile u32 Control;
- volatile u32 CurrBufPtr;
- volatile u32 Next;
- volatile u32 BufEnd;
-} HCTD;
-
-// Host Controller Communication Area
-typedef struct {
- volatile u32 InterruptTable[32];
- volatile u16 FrameNumber;
- volatile u16 FrameNumberPad;
- volatile u32 DoneHead;
- volatile u8 Reserved[120];
-} HCCA;
-
-//====================================================================================
-//====================================================================================
-
-class HostController;
-class Endpoint;
-class Device;
-
-// must be 3*16 bytes long
-class Endpoint
-{
-public:
- HCED EndpointDescriptor; // Pointer to EndpointDescriptor == Pointer to Endpoint
- HCTD TDHead;
-
- enum State
- {
- Free,
- NotQueued,
- Idle,
- SetupQueued,
- DataQueued,
- StatusQueued,
- CallbackPending
- };
-
- volatile u8 CurrentState;
- u8 Flags; // 0x80 In, 0x03 mask endpoint type
-
- u16 Length;
- u8* Data;
- USBCallback Callback; // Must be a multiple of 16 bytes long
- void* UserData;
-
- int Address()
- {
- int ep = (EndpointDescriptor.Control >> 7) & 0xF;
- if (ep)
- ep |= Flags & 0x80;
- return ep;
- }
-
- int Device()
- {
- return EndpointDescriptor.Control & 0x7F;
- }
-
- int Status()
- {
- return (TDHead.Control >> 28) & 0xF;
- }
-
- u32 Enqueue(u32 head)
- {
- if (CurrentState == NotQueued)
- {
- EndpointDescriptor.Next = head;
- head = (u32)&EndpointDescriptor;
- CurrentState = Idle;
- }
- return head;
- }
-};
-
-class Device
-{
-public:
- u8 _endpointMap[MAX_ENDPOINTS_PER_DEVICE*2];
- u8 Hub;
- u8 Port;
- u8 Addr;
- u8 Pad;
-
- // Only if this device is a hub
- u8 HubPortCount; // nonzero if this is a hub
- u8 HubInterruptData;
- u8 HubMap;
- u8 HubMask;
-
- int Flags; // 1 = Disconnected
-
- Setup SetupBuffer;
-
- // Allocate endpoint zero
- int Init(DeviceDescriptor* d, int hub, int port, int addr, int lowSpeed)
- {
- Hub = hub;
- Port = port;
- Addr = addr;
- Flags = lowSpeed;
- memset(_endpointMap,0xFF,sizeof(_endpointMap));
- return 0;
- }
-
- int SetEndpointIndex(int ep, int endpointIndex)
- {
- for (int i = 0; i < MAX_ENDPOINTS_PER_DEVICE*2; i += 2)
- {
- if (_endpointMap[i] == 0xFF) // Add endpoint to map
- {
- _endpointMap[i] = ep;
- _endpointMap[i+1] = endpointIndex;
- return 0;
- }
- }
- return ERR_ENDPOINT_NONE_LEFT;
- }
-
- int GetEndpointIndex(int ep)
- {
- for (int i = 0; i < MAX_ENDPOINTS_PER_DEVICE*2; i += 2)
- {
- if (_endpointMap[i] == ep)
- return _endpointMap[i+1];
- if (_endpointMap[i] == 0xFF)
- break;
- }
- return -1;
- }
-};
-
-class HostController
-{
-public:
- HCCA CommunicationArea;
- Endpoint Endpoints[MAX_ENDPOINTS_TOTAL]; // Multiple of 16
-
- Endpoint EndpointZero; // For device enumeration
- HCTD _commonTail;
- Setup _setupZero;
-
- Device Devices[MAX_DEVICES];
- u32 _frameNumber; // 32 bit ms counter
-
- u8 _callbacksPending; // Endpoints with callbacks are pending, set from ISR via ProcessDoneQueue
- u8 _rootHubStatusChange; // Root hub status has changed, set from ISR
- u8 _unused0;
- u8 _unused1;
-
- u8 _connectPending; // Reset has initiated a connect
- u8 _connectCountdown; // Number of ms left after reset before we can connect
- u8 _connectHub; // Will connect on this hub
- u8 _connectPort; // ... and this port
-
- u8 SRAM[0]; // Start of free SRAM
-
- void Loop()
- {
- u16 elapsed = CommunicationArea.FrameNumber - (u16)_frameNumber; // extend to 32 bits
- _frameNumber += elapsed;
-
- // Do callbacks, if any
- while (_callbacksPending)
- {
- for (int i = 0; i < MAX_ENDPOINTS_TOTAL; i++)
- {
- Endpoint* endpoint = Endpoints + i;
- if (endpoint->CurrentState == Endpoint::CallbackPending)
- {
- LOG("Sorting Callbacks %i\n\r",endpoint->CurrentState);
- _callbacksPending--;
- endpoint->CurrentState = Endpoint::Idle;
- LOG("SatusChanged %i\n\r",endpoint->CurrentState);
- endpoint->Callback(endpoint->Device(),endpoint->Address(),endpoint->Status(),endpoint->Data,endpoint->Length,endpoint->UserData);
- }
- }
- }
-
- // Deal with changes on the root hub
- if (_rootHubStatusChange)
- {
- u32 status = LPC_USB->HcRhPortStatus1;
- _rootHubStatusChange = 0;
- if (status >> 16)
- {
- HubStatusChange(0,1,status);
- LPC_USB->HcRhPortStatus1 = status & 0xFFFF0000; // clear status changes
- }
- }
-
- // Connect after reset timeout
- if (_connectCountdown)
- {
- if (elapsed >= _connectCountdown)
- {
- _connectCountdown = 0;
- Connect(_connectHub,_connectPort & 0x7F,_connectPort & 0x80);
- } else
- _connectCountdown -= elapsed;
- }
- }
-
- // HubInterrupt - bitmap in dev->HubInterruptData
- void HubInterrupt(int device)
- {
- Device* dev = &Devices[device-1];
- for (int i = 0; i < dev->HubPortCount; i++)
- {
- int port = i+1;
- if (dev->HubInterruptData & (1 << port))
- {
- u32 status = 0;
- GetPortStatus(device,port,&status);
- if (status >> 16)
- {
- if (_connectPending && (status & ConnectStatusChange))
- continue; // Don't connect again until previous device has been added and addressed
-
- HubStatusChange(device,port,status);
- if (status & ConnectStatusChange)
- ClearPortFeature(device,C_PORT_CONNECTION,port);
- if (status & PortResetStatusChange)
- ClearPortFeature(device,C_PORT_RESET,port);
- }
- }
- }
- }
-
- static void HubInterruptCallback(int device, int endpoint, int status, u8* data, int len, void* userData)
- {
- HostController* controller = (HostController*)userData;
- if (status == 0)
- controller->HubInterrupt(device);
- USBInterruptTransfer(device,endpoint,data,1,HubInterruptCallback,userData);
- }
-
- int InitHub(int device)
- {
- u8 buf[16];
- int r= USBControlTransfer(device,DEVICE_TO_HOST | REQUEST_TYPE_CLASS | RECIPIENT_DEVICE,GET_DESCRIPTOR,(DESCRIPTOR_TYPE_HUB << 8),0,buf,sizeof(buf));
- if (r < 0)
- return ERR_HUB_INIT_FAILED;
-
- // turn on power on the hubs ports
- Device* dev = &Devices[device-1];
- int ports = buf[2];
- dev->HubPortCount = ports;
- for (int i = 0; i < ports; i++)
- SetPortPower(device,i+1);
-
- // Enable hub change interrupts
- return USBInterruptTransfer(device,0x81,&dev->HubInterruptData,1,HubInterruptCallback,this);
- }
-
- int AddEndpoint(int device, int ep, int attributes, int maxPacketSize, int interval)
- {
- LOG("AddEndpoint D:%02X A:%02X T:%02X P:%04X I:%02X\r\n",device,ep,attributes,maxPacketSize,interval);
- Device* dev = &Devices[device-1];
- Endpoint* endpoint = AllocateEndpoint(device,ep,attributes,maxPacketSize);
- if (!endpoint)
- return ERR_ENDPOINT_NONE_LEFT;
- dev->SetEndpointIndex(ep,endpoint - Endpoints);
- endpoint->EndpointDescriptor.Control |= dev->Flags; // Map in slow speed
- return 0; // TODO ed->bInterval
- }
-
- int AddEndpoint(int device, EndpointDescriptor* ed)
- {
- return AddEndpoint(device,ed->bEndpointAddress,ed->bmAttributes,ed->wMaxPacketSize,ed->bInterval);
- }
-
- // allocate a endpoint
- Endpoint* AllocateEndpoint(int device, int endpointAddress, int type, int maxPacketSize)
- {
- for (int i = 0; i < MAX_ENDPOINTS_TOTAL; i++)
- {
- Endpoint* ep = &Endpoints[i];
- if (ep->CurrentState == 0)
- {
- //LOG("Allocated endpoint %d to %02X:%02X\r\n",i,device,endpointAddress);
- ep->Flags = (endpointAddress & 0x80) | (type & 3);
- ep->CurrentState = Endpoint::NotQueued;
- ep->EndpointDescriptor.Control = (maxPacketSize << 16) | ((endpointAddress & 0x7F) << 7) | device;
- return ep;
- }
- }
- return 0;
- }
-
- Endpoint* GetEndpoint(int device, int ep)
- {
- if (device == 0)
- {
- //printf("WARNING: USING DEVICE 0\n");
- return &EndpointZero;
- }
- if (device > MAX_DEVICES)
- return 0;
- int i = Devices[device-1].GetEndpointIndex(ep);
- if (i == -1)
- return 0;
- return Endpoints + i;
- }
-
- int Transfer(Endpoint* endpoint, int token, u8* data, int len, int state)
- {
- //LOG("Transfer %02X T:%d Len:%d S:%d\r\n",endpoint->Address(),token,len,state);
-
- int toggle = 0;
- if (endpoint->Address() == 0)
- toggle = (token == TOKEN_SETUP) ? TD_TOGGLE_0 : TD_TOGGLE_1;
-
- if (token != TOKEN_SETUP)
- token = (token == TOKEN_IN ? TD_IN : TD_OUT);
-
- HCTD* head = &endpoint->TDHead;
- HCTD* tail = &_commonTail;
-
- head->Control = TD_ROUNDING | token | TD_DELAY_INT(0) | toggle | TD_CC;
- head->CurrBufPtr = (u32)data;
- head->BufEnd = (u32)(data + len - 1);
- head->Next = (u32)tail;
-
- HCED* ed = &endpoint->EndpointDescriptor;
- ed->HeadTd = (u32)head | (ed->HeadTd & 0x00000002); // carry toggle
- ed->TailTd = (u32)tail;
-
- //HCTD* td = head;
- //LOG("%04X TD %08X %08X %08X Next:%08X\r\n",CommunicationArea.FrameNumber,td->Control,td->CurrBufPtr,td->BufEnd,td->Next);
- //LOG("%04X ED %08X %08X %08X\r\n",CommunicationArea.FrameNumber,ed->Control,ed->HeadTd,ed->TailTd);
-
- switch (endpoint->Flags & 3)
- {
- case ENDPOINT_CONTROL:
- LPC_USB->HcControlHeadED = endpoint->Enqueue(LPC_USB->HcControlHeadED); // May change state NotQueued->Idle
- endpoint->CurrentState = state; // Get in before an int
- LPC_USB->HcCommandStatus = LPC_USB->HcCommandStatus | ControlListFilled;
- LPC_USB->HcControl = LPC_USB->HcControl | ControlListEnable;
- break;
-
- case ENDPOINT_BULK:
- LPC_USB->HcBulkHeadED = endpoint->Enqueue(LPC_USB->HcBulkHeadED);
- endpoint->CurrentState = state;
- LPC_USB->HcCommandStatus = LPC_USB->HcCommandStatus | BulkListFilled;
- LPC_USB->HcControl = LPC_USB->HcControl | BulkListEnable;
- break;
-
- case ENDPOINT_INTERRUPT:
- CommunicationArea.InterruptTable[0] = endpoint->Enqueue(CommunicationArea.InterruptTable[0]);
- endpoint->CurrentState = state;
- LPC_USB->HcControl |= PeriodicListEnable;
- break;
- }
- return 0;
- }
-
- // Remove an endpoint from an active queue
- bool Remove(HCED* ed, volatile HCED** queue)
- {
- if (*queue == 0)
- return false;
- if (*queue == (volatile HCED*)ed)
- {
- *queue = (volatile HCED*)ed->Next; // At head of queue
- return true;
- }
-
- volatile HCED* head = *queue;
- while (head)
- {
- if (head->Next == (u32)ed)
- {
- head->Next = ed->Next;
- return true;
- }
- head = (volatile HCED*)head->Next;
- }
- return false;
- }
-
- void Release(Endpoint* endpoint)
- {
- if (endpoint->CurrentState == Endpoint::NotQueued)
- {
- // Never event used it, nothing to do
- }
- else
- {
- HCED* ed = (HCED*)endpoint;
- ed->Control |= 0x4000; // SKIP
- switch (endpoint->Flags & 0x03)
- {
- case ENDPOINT_CONTROL:
- Remove(ed,(volatile HCED**)&LPC_USB->HcControlHeadED);
- break;
- case ENDPOINT_BULK:
- Remove(ed,(volatile HCED**)&LPC_USB->HcBulkHeadED);
- break;
- case ENDPOINT_INTERRUPT:
- for (int i = 0; i < 32; i++)
- Remove(ed,(volatile HCED**)&CommunicationArea.InterruptTable[i]);
- break;
- }
-
- u16 fn = CommunicationArea.FrameNumber;
- while (fn == CommunicationArea.FrameNumber)
- ; // Wait for next frame
-
- }
-
- // In theory, the endpoint is now dead.
- // TODO: Will Callbacks ever be pending? BUGBUG
- memset(endpoint,0,sizeof(Endpoint));
- }
-
- // Pop the last TD from the list
- HCTD* Reverse(HCTD* current)
- {
- HCTD *result = NULL,*temp;
- while (current)
- {
- temp = (HCTD*)current->Next;
- current->Next = (u32)result;
- result = current;
- current = temp;
- }
- return result;
- }
-
- // Called from interrupt...
- // Control endpoints use a state machine to progress through the transfers
- void ProcessDoneQueue(u32 tdList)
- {
- HCTD* list = Reverse((HCTD*)tdList);
- while (list)
- {
- Endpoint* endpoint = (Endpoint*)(list-1);
- list = (HCTD*)list->Next;
- int ep = endpoint->Address();
- bool in = endpoint->Flags & 0x80;
- int status = (endpoint->TDHead.Control >> 28) & 0xF;
-
- //LOG("ProcessDoneQueue %02X %08X\r\n",ep,endpoint->TDHead.Control);
-
- if (status != 0)
- {
- LOG("ProcessDoneQueue status %02X %d\r\n",ep,status);
- endpoint->CurrentState = Endpoint::Idle;
- } else {
- switch (endpoint->CurrentState)
- {
- case Endpoint::SetupQueued:
- if (endpoint->Length == 0)
- Transfer(endpoint,in ? TOKEN_OUT : TOKEN_IN,0,0,Endpoint::StatusQueued); // Skip Data Phase
- else
- Transfer(endpoint,in ? TOKEN_IN : TOKEN_OUT,endpoint->Data,endpoint->Length, Endpoint::DataQueued); // Setup is done, now Data
- break;
-
- case Endpoint::DataQueued:
- if (endpoint->TDHead.CurrBufPtr)
- endpoint->Length = endpoint->TDHead.CurrBufPtr - (u32)endpoint->Data;
-
- if (ep == 0)
- Transfer(endpoint,in ? TOKEN_OUT : TOKEN_IN,0,0,Endpoint::StatusQueued); // Data is done, now Status, Control only
- else
- endpoint->CurrentState = Endpoint::Idle;
- break;
-
- case Endpoint::StatusQueued: // Transaction is done
- endpoint->CurrentState = Endpoint::Idle;
- break;
- }
- }
-
- // Complete, flag if we need a callback
- if (endpoint->Callback && endpoint->CurrentState == Endpoint::Idle)
- {
- endpoint->CurrentState = Endpoint::CallbackPending;
- _callbacksPending++;
- }
- }
- }
-
- // Hack to reset devices that don't want to connect
- int AddDevice(int hub, int port, bool isLowSpeed)
- {
- int device = AddDeviceCore(hub,port,isLowSpeed);
- if (device < 0)
- {
- LOG("========RETRY ADD DEVICE========\r\n"); // This will go for ever.. TODO power cycle root?
- Disconnect(hub,port); // Could not read descriptor at assigned address, reset this port and try again
- ResetPort(hub,port); // Cheap bluetooth dongles often need this on a hotplug
- return -1;
- }
- return device;
- }
-
- int AddDeviceCore(int hub, int port, bool isLowSpeed)
- {
- int lowSpeed = isLowSpeed ? 0x2000 : 0;
- DeviceDescriptor desc;
- EndpointZero.EndpointDescriptor.Control = (8 << 16) | lowSpeed; // MaxPacketSize == 8
- int r = GetDescriptor(0,DESCRIPTOR_TYPE_DEVICE,0,(u8*)&desc,8);
- if (r < 0)
- {
- LOG("FAILED TO LOAD DESCRIPTOR FOR DEVICE 0\r\n");
- return r;
- }
-
- EndpointZero.EndpointDescriptor.Control = (desc.bMaxPacketSize << 16) | lowSpeed; // Actual MaxPacketSize
- r = GetDescriptor(0,DESCRIPTOR_TYPE_DEVICE,0,(u8*)&desc,sizeof(desc));
- if (r < 0)
- return r;
-
- LOG("\nClass %02X found %04X:%04X\r\n",desc.bDeviceClass,desc.idVendor,desc.idProduct);
-
- // Now assign the device an address, move off EndpointZero
- int device = 0;
- for (int i = 0; i < MAX_DEVICES; i++)
- {
- if (Devices[i].Port == 0)
- {
- device = i+1;
- break;
- }
- }
- if (!device)
- return ERR_DEVICE_NONE_LEFT;
-
- r = SetAddress(0,device);
- if (r)
- return r;
- DelayMS(2);
-
- // Now at a nonzero address, create control endpoint
- Device* dev = &Devices[device-1];
- dev->Init(&desc,hub,port,device,lowSpeed);
- AddEndpoint(device,0,ENDPOINT_CONTROL,desc.bMaxPacketSize,0);
- _connectPending = 0;
-
- // Verify this all works
- r = GetDescriptor(device,DESCRIPTOR_TYPE_DEVICE,0,(u8*)&desc,sizeof(desc));
- if (r < 0)
- return r;
-
- // Set to interface 0 by default
- // Calls LoadDevice if interface is found
- r = SetConfigurationAndInterface(device,1,0,&desc);
-
- if (desc.bDeviceClass == CLASS_HUB)
- InitHub(device); // Handle hubs in this code
-
- return device;
- }
-
- // Walk descriptors and create endpoints for a given device
- // TODO configuration !=1, alternate settings etc.
- int SetConfigurationAndInterface(int device, int configuration, int interfaceNumber, DeviceDescriptor* desc)
- {
- u8 buffer[255];
- int err = GetDescriptor(device,DESCRIPTOR_TYPE_CONFIGURATION,0,buffer,sizeof(buffer));
- if (err < 0)
- return err;
-
- err = SetConfiguration(device,configuration);
- if (err < 0)
- return err;
-
- // Add the endpoints for this interface
- int len = buffer[2] | (buffer[3] << 8);
- u8* d = buffer;
- u8* end = d + len;
- InterfaceDescriptor* found = 0;
- while (d < end)
- {
- if (d[1] == DESCRIPTOR_TYPE_INTERFACE)
- {
- InterfaceDescriptor* id = (InterfaceDescriptor*)d;
- if (id->bInterfaceNumber == interfaceNumber)
- {
- found = id;
- d += d[0];
- while (d < end && d[1] != DESCRIPTOR_TYPE_INTERFACE)
- {
- switch (d[1])
- {
- case DESCRIPTOR_TYPE_ENDPOINT:
- AddEndpoint(device,(EndpointDescriptor*)d);
- break;
- default:
- LOG("Skipping descriptor %02X (%d bytes)\r\n",d[1],d[0]);
- }
- d += d[0];
- }
- }
- }
- d += d[0];
- }
-
- if (!found)
- return ERR_INTERFACE_NOT_FOUND;
- OnLoadDevice(device,desc,found);
- return 0;
- }
-
- void Init()
- {
- LOG("USB INIT (Controller is %d bytes)\r\n",sizeof(*this));
- memset(this,0,sizeof(HostController));
- EndpointZero.CurrentState = Endpoint::NotQueued;
- HWInit(&CommunicationArea);
- DelayMS(10);
- }
-
- void ResetPort(int hub, int port)
- {
- LOG("ResetPort Hub:%d Port:%d\r\n",hub,port);
- _connectPending++; // Only reset/add 1 device at a time
- if (hub == 0)
- LPC_USB->HcRhPortStatus1 = PortResetStatus; // Reset Root Hub, port 1
- else
- SetPortReset(hub,port); // or reset other hub
- }
-
- void Disconnect(int hub, int port)
- {
- LOG("Disconnect Hub:%d Port:%d\r\n",hub,port); // Mark a device for destruction
- for (int i = 0; i < MAX_DEVICES; i++)
- {
- Device* dev = Devices + i;
- if (dev->Port == port && dev->Hub == hub)
- {
- // Disconnect everything that is attached to this device if it is a hub
- for (int p = 0; p < dev->HubPortCount; p++)
- Disconnect(i+1,p+1);
-
- // Now release endpoints
- for (int j = 1; j < MAX_ENDPOINTS_PER_DEVICE*2; j += 2)
- {
- u8 endpointIndex = dev->_endpointMap[j];
- if (endpointIndex != 0xFF)
- Release(Endpoints + endpointIndex);
- }
- dev->Port = 0; // Device is now free
- dev->Flags = 0;
- return;
- }
- }
- }
-
- // called after reset
- void Connect(int hub, int port, bool lowspeed)
- {
- LOG("Connect Hub:%d Port:%d %s\r\n",hub,port,lowspeed ? "slow" : "full");
- AddDevice(hub,port,lowspeed);
- }
-
- // Called from interrupt
- void HubStatusChange(int hub, int port, u32 status)
- {
- LOG("HubStatusChange Hub:%d Port:%d %08X\r\n",hub,port,status);
- if (status & ConnectStatusChange)
- {
- if (status & CurrentConnectStatus) // Connecting
- ResetPort(hub,port); // Reset to initiate connect (state machine?)
- else
- Disconnect(hub,port);
- }
-
- if (status & PortResetStatusChange)
- {
- if (!(status & PortResetStatus))
- {
- _connectCountdown = 200; // Schedule a connection in 200ms
- if (status & LowspeedDevice)
- port |= 0x80;
- _connectHub = hub;
- _connectPort = port;
- }
- }
- }
-
- #define HOST_CLK_EN (1<<0)
- #define PORTSEL_CLK_EN (1<<3)
- #define AHB_CLK_EN (1<<4)
- #define CLOCK_MASK (HOST_CLK_EN | PORTSEL_CLK_EN | AHB_CLK_EN)
-
- #define FRAMEINTERVAL (12000-1) // 1ms
- #define DEFAULT_FMINTERVAL ((((6 * (FRAMEINTERVAL - 210)) / 7) << 16) | FRAMEINTERVAL)
-
- void DelayMS(int ms)
- {
- u16 f = ms + CommunicationArea.FrameNumber;
- while (f != CommunicationArea.FrameNumber)
- ;
- }
-
- static void HWInit(HCCA* cca)
- {
- NVIC_DisableIRQ(USB_IRQn);
-
- // turn on power for USB
- LPC_SC->PCONP |= (1UL<<31);
- // Enable USB host clock, port selection and AHB clock
- LPC_USB->USBClkCtrl |= CLOCK_MASK;
- // Wait for clocks to become available
- while ((LPC_USB->USBClkSt & CLOCK_MASK) != CLOCK_MASK)
- ;
-
- // We are a Host
- LPC_USB->OTGStCtrl |= 1;
- LPC_USB->USBClkCtrl &= ~PORTSEL_CLK_EN; // we don't need port selection clock until we do OTG
-
- // configure USB pins
- LPC_PINCON->PINSEL1 &= ~((3<<26)|(3<<28));
- LPC_PINCON->PINSEL1 |= ((1<<26)|(1<<28)); // USB D+/D-
-
- LPC_PINCON->PINSEL3 &= ~((3 << 6) | (3 << 22)); // USB_PPWR, USB_OVRCR
- LPC_PINCON->PINSEL3 |= ((2 << 6) | (2 << 22));
-
- LPC_PINCON->PINSEL4 &= ~(3 << 18); // USB_CONNECT
- LPC_PINCON->PINSEL4 |= (1 << 18);
-
- // Reset OHCI block
- LPC_USB->HcControl = 0;
- LPC_USB->HcControlHeadED = 0;
- LPC_USB->HcBulkHeadED = 0;
-
- LPC_USB->HcCommandStatus = HostControllerReset;
- LPC_USB->HcFmInterval = DEFAULT_FMINTERVAL;
- LPC_USB->HcPeriodicStart = FRAMEINTERVAL*90/100;
-
- LPC_USB->HcControl = (LPC_USB->HcControl & (~HostControllerFunctionalState)) | OperationalMask;
- LPC_USB->HcRhStatus = SetGlobalPower;
-
- LPC_USB->HcHCCA = (u32)cca;
- LPC_USB->HcInterruptStatus |= LPC_USB->HcInterruptStatus;
- LPC_USB->HcInterruptEnable = MasterInterruptEnable | WritebackDoneHead | RootHubStatusChange | FrameNumberOverflow;
-
- NVIC_SetPriority(USB_IRQn, 0);
- NVIC_EnableIRQ(USB_IRQn);
- while (cca->FrameNumber < 10)
- ; // 10ms delay before diving in
- }
-};
-
-//====================================================================================
-//====================================================================================
-// Host controller instance and Interrupt handler
-
-static HostController _controller __attribute__((at(USB_RAM_BASE)));
-
-extern "C" void USB_IRQHandler(void) __irq;
-void USB_IRQHandler (void) __irq
-{
- u32 int_status = LPC_USB->HcInterruptStatus;
-
- if(int_status & UnrecoverableError) //Error
- {
- LOG("USB_IRQHandler UnrecoverableError Please reset\r\n");
- }
-
-
- if (int_status & RootHubStatusChange) // Root hub status change
- _controller._rootHubStatusChange++; // Just flag the controller, will be processed in USBLoop
-
- u32 head = 0;
- if (int_status & WritebackDoneHead)
- {
- head = _controller.CommunicationArea.DoneHead; // Writeback Done
- _controller.CommunicationArea.DoneHead = 0;
- }
- LPC_USB->HcInterruptStatus = int_status;
-
- if (head)
- _controller.ProcessDoneQueue(head); // TODO - low bit can be set BUGBUG
-}
-
-//====================================================================================
-//====================================================================================
-// API Methods
-
-void USBInit()
-{
- return _controller.Init();
-}
-
-void USBLoop()
-{
-
- return _controller.Loop();
-
-}
-
-u8* USBGetBuffer(u32* len)
-{
- *len = USB_RAM_SIZE - sizeof(HostController);
- return _controller.SRAM;
-}
-
-static Setup* GetSetup(int device)
-{
- if (device == 0)
- return &_controller._setupZero;
-
- if (device < 1 || device > MAX_DEVICES)
- return 0;
- return &_controller.Devices[device-1].SetupBuffer;
-}
-
-// Loop until IO on endpoint is complete
-static int WaitIODone(Endpoint* endpoint)
-{
- LOG("Waiting\n\r");
- if (endpoint->CurrentState == Endpoint::NotQueued)
- return 0;
- while (endpoint->CurrentState != Endpoint::Idle)
- //LOG("Loopz");
- USBLoop(); // May generate callbacks, mount or unmount devices etc
- int status = endpoint->Status();
- if (status == 0)
- return endpoint->Length;
- LOG("DATA SENT\n\r");
- return -status;
-}
-
-int USBTransfer(int device, int ep, u8 flags, u8* data, int length, USBCallback callback, void* userData)
-{
- Endpoint* endpoint = _controller.GetEndpoint(device,ep);
- if (!endpoint)
- return ERR_ENDPOINT_NOT_FOUND;
-
- WaitIODone(endpoint);
- LOG("before ep=%x,callback=%p\r\n",endpoint,endpoint->Callback);
- endpoint->Flags = flags;
- endpoint->Data = data;
- endpoint->Length = length;
- endpoint->Callback = callback;
- endpoint->UserData = userData;
- LOG("ep=%x,callback=%p\r\n",ep,callback);
- if (ep == 0)
- _controller.Transfer(endpoint,TOKEN_SETUP,(u8*)GetSetup(device),8,Endpoint::SetupQueued);
- else
- _controller.Transfer(endpoint,flags & 0x80 ? TOKEN_IN : TOKEN_OUT,data,length,Endpoint::DataQueued);
- if (callback)
- return IO_PENDING;
- return WaitIODone(endpoint);
-}
-
-int USBControlTransfer(int device, int request_type, int request, int value, int index, u8* data, int length, USBCallback callback, void * userData)
-{
- Setup* setup = GetSetup(device);
- if (!setup)
- return ERR_DEVICE_NOT_FOUND;
-
- // Async control calls may overwrite setup buffer of previous call, so we need to wait before setting up next call
- WaitIODone(_controller.GetEndpoint(device,0));
-
- setup->bm_request_type = request_type;
- setup->b_request = request;
- setup->w_value = value;
- setup->w_index = index;
- setup->w_length = length;
- return USBTransfer(device,0,request_type & DEVICE_TO_HOST,data,length,callback,userData);
-}
-
-int USBInterruptTransfer(int device, int ep, u8* data, int length, USBCallback callback, void* userData)
-{
- return USBTransfer(device,ep,(ep & 0x80) | ENDPOINT_INTERRUPT,data,length,callback,userData);
-}
-
-int USBBulkTransfer(int device, int ep, u8* data, int length, USBCallback callback, void* userData)
-{
- return USBTransfer(device,ep,(ep & 0x80) | ENDPOINT_BULK,data,length,callback,userData);
-}
-
-int GetDescriptor(int device, int descType,int descIndex, u8* data, int length)
-{
- return USBControlTransfer(device,DEVICE_TO_HOST | RECIPIENT_DEVICE, GET_DESCRIPTOR,(descType << 8)|(descIndex), 0, data, length, 0);
-}
-
-int GetString(int device, int index, char* dst, int length)
-{
- u8 buffer[255];
- int le = GetDescriptor(device,DESCRIPTOR_TYPE_STRING,index,buffer,sizeof(buffer));
- if (le < 0)
- return le;
- if (length < 1)
- return -1;
- length <<= 1;
- if (le > length)
- le = length;
- for (int j = 2; j < le; j += 2)
- *dst++ = buffer[j];
- *dst = 0;
- return (le>>1)-1;
-}
-
-int SetAddress(int device, int new_addr)
-{
- return USBControlTransfer(device,HOST_TO_DEVICE | RECIPIENT_DEVICE, SET_ADDRESS, new_addr, 0, 0, 0, 0);
-}
-
-int SetConfiguration(int device, int configNum)
-{
- return USBControlTransfer(device,HOST_TO_DEVICE | RECIPIENT_DEVICE, SET_CONFIGURATION, configNum, 0, 0, 0, 0);
-}
-
-int SetInterface(int device, int ifNum, int altNum)
-{
- return USBControlTransfer(device,HOST_TO_DEVICE | RECIPIENT_INTERFACE, SET_INTERFACE, altNum, ifNum, 0, 0, 0);
-}
-
-// HUB stuff
-int SetPortFeature(int device, int feature, int index)
-{
- return USBControlTransfer(device,HOST_TO_DEVICE | REQUEST_TYPE_CLASS | RECIPIENT_OTHER,SET_FEATURE,feature,index,0,0);
-}
-
-int ClearPortFeature(int device, int feature, int index)
-{
- return USBControlTransfer(device,HOST_TO_DEVICE | REQUEST_TYPE_CLASS | RECIPIENT_OTHER,CLEAR_FEATURE,feature,index,0,0);
-}
-
-int SetPortPower(int device, int port)
-{
- int r = SetPortFeature(device,PORT_POWER,port);
- _controller.DelayMS(20); // 80ms to turn on a hubs power... DESCRIPTOR? todo
- return r;
-}
-
-int SetPortReset(int device, int port)
-{
- return SetPortFeature(device,PORT_RESET,port);
-}
-
-int GetPortStatus(int device, int port, u32* status)
-{
- return USBControlTransfer(device,DEVICE_TO_HOST | REQUEST_TYPE_CLASS | RECIPIENT_OTHER,GET_STATUS,0,port,(u8*)status,4);
-}
-
-#endif
\ No newline at end of file
--- a/AndroidADKTerm/AndroidAccessory/USBHost/USBHost.h Fri Apr 26 06:36:57 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,221 +0,0 @@
-
-/*
-Copyright (c) 2010 Peter Barrett
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-*/
-
-
-#ifndef USBHOST_H
-#define USBHOST_H
-
-//log mode on off
-//#define USBHOST_LOG
-
-
-#ifndef u8
-typedef unsigned char u8;
-typedef unsigned short u16;
-typedef unsigned long u32;
-
-typedef char s8;
-typedef short s16;
-typedef char s32;
-#endif
-
-#define ENDPOINT_CONTROL 0
-#define ENDPOINT_ISOCRONOUS 1
-#define ENDPOINT_BULK 2
-#define ENDPOINT_INTERRUPT 3
-
-#define DESCRIPTOR_TYPE_DEVICE 1
-#define DESCRIPTOR_TYPE_CONFIGURATION 2
-#define DESCRIPTOR_TYPE_STRING 3
-#define DESCRIPTOR_TYPE_INTERFACE 4
-#define DESCRIPTOR_TYPE_ENDPOINT 5
-
-#define DESCRIPTOR_TYPE_HID 0x21
-#define DESCRIPTOR_TYPE_REPORT 0x22
-#define DESCRIPTOR_TYPE_PHYSICAL 0x23
-#define DESCRIPTOR_TYPE_HUB 0x29
-
-enum USB_CLASS_CODE
-{
- CLASS_DEVICE,
- CLASS_AUDIO,
- CLASS_COMM_AND_CDC_CONTROL,
- CLASS_HID,
- CLASS_PHYSICAL = 0x05,
- CLASS_STILL_IMAGING,
- CLASS_PRINTER,
- CLASS_MASS_STORAGE,
- CLASS_HUB,
- CLASS_CDC_DATA,
- CLASS_SMART_CARD,
- CLASS_CONTENT_SECURITY = 0x0D,
- CLASS_VIDEO = 0x0E,
- CLASS_DIAGNOSTIC_DEVICE = 0xDC,
- CLASS_WIRELESS_CONTROLLER = 0xE0,
- CLASS_MISCELLANEOUS = 0xEF,
- CLASS_APP_SPECIFIC = 0xFE,
- CLASS_VENDOR_SPECIFIC = 0xFF
-};
-
-#define DEVICE_TO_HOST 0x80
-#define HOST_TO_DEVICE 0x00
-#define REQUEST_TYPE_STANDARD 0x00
-#define REQUEST_TYPE_CLASS 0x20
-#define REQUEST_TYPE_VENDOR 0x40
-#define RECIPIENT_DEVICE 0x00
-#define RECIPIENT_INTERFACE 0x01
-#define RECIPIENT_ENDPOINT 0x02
-#define RECIPIENT_OTHER 0x03
-
-#define GET_STATUS 0
-#define CLEAR_FEATURE 1
-#define SET_FEATURE 3
-#define SET_ADDRESS 5
-#define GET_DESCRIPTOR 6
-#define SET_DESCRIPTOR 7
-#define GET_CONFIGURATION 8
-#define SET_CONFIGURATION 9
-#define GET_INTERFACE 10
-#define SET_INTERFACE 11
-#define SYNCH_FRAME 11
-
-/* HID Request Codes */
-#define HID_REQUEST_GET_REPORT 0x01
-#define HID_REQUEST_GET_IDLE 0x02
-#define HID_REQUEST_GET_PROTOCOL 0x03
-#define HID_REQUEST_SET_REPORT 0x09
-#define HID_REQUEST_SET_IDLE 0x0A
-#define HID_REQUEST_SET_PROTOCOL 0x0B
-
-/* HID Report Types */
-#define HID_REPORT_INPUT 0x01
-#define HID_REPORT_OUTPUT 0x02
-#define HID_REPORT_FEATURE 0x03
-
-
-// -5 is nak
-/*
-0010 ACK Handshake
-1010 NAK Handshake
-1110 STALL Handshake
-0110 NYET (No Response Yet)
-*/
-
-#define IO_PENDING -100
-#define ERR_ENDPOINT_NONE_LEFT -101
-#define ERR_ENDPOINT_NOT_FOUND -102
-#define ERR_DEVICE_NOT_FOUND -103
-#define ERR_DEVICE_NONE_LEFT -104
-#define ERR_HUB_INIT_FAILED -105
-#define ERR_INTERFACE_NOT_FOUND -106
-
-typedef struct
-{
- u8 bLength;
- u8 bDescriptorType;
- u16 bcdUSB;
- u8 bDeviceClass;
- u8 bDeviceSubClass;
- u8 bDeviceProtocol;
- u8 bMaxPacketSize;
- u16 idVendor;
- u16 idProduct;
- u16 bcdDevice; // version
- u8 iManufacturer;
- u8 iProduct;
- u8 iSerialNumber;
- u8 bNumConfigurations;
-} DeviceDescriptor; // 16 bytes
-
-typedef struct
-{
- u8 bLength;
- u8 bDescriptorType;
- u16 wTotalLength;
- u8 bNumInterfaces;
- u8 bConfigurationValue; // Value to use as an argument to select this configuration
- u8 iConfiguration; // Index of String Descriptor describing this configuration
- u8 bmAttributes; // Bitmap D7 Reserved, set to 1. (USB 1.0 Bus Powered),D6 Self Powered,D5 Remote Wakeup,D4..0 = 0
- u8 bMaxPower; // Maximum Power Consumption in 2mA units
-} ConfigurationDescriptor;
-
-typedef struct
-{
- u8 bLength;
- u8 bDescriptorType;
- u8 bInterfaceNumber;
- u8 bAlternateSetting;
- u8 bNumEndpoints;
- u8 bInterfaceClass;
- u8 bInterfaceSubClass;
- u8 bInterfaceProtocol;
- u8 iInterface; // Index of String Descriptor Describing this interface
-} InterfaceDescriptor;
-
-typedef struct
-{
- u8 bLength;
- u8 bDescriptorType;
- u8 bEndpointAddress; // Bits 0:3 endpoint, Bits 7 Direction 0 = Out, 1 = In (Ignored for Control Endpoints)
- u8 bmAttributes; // Bits 0:1 00 = Control, 01 = Isochronous, 10 = Bulk, 11 = Interrupt
- u16 wMaxPacketSize;
- u8 bInterval; // Interval for polling endpoint data transfers.
-} EndpointDescriptor;
-
-typedef struct {
- u8 bLength;
- u8 bDescriptorType;
- u16 bcdHID;
- u8 bCountryCode;
- u8 bNumDescriptors;
- u8 bDescriptorType2;
- u16 wDescriptorLength;
-} HIDDescriptor;
-
-//============================================================================
-//============================================================================
-
-
-void USBInit();
-void USBLoop();
-u8* USBGetBuffer(u32* len);
-
-// Optional callback for transfers, called at interrupt time
-typedef void (*USBCallback)(int device, int endpoint, int status, u8* data, int len, void* userData);
-
-// Transfers
-int USBControlTransfer(int device, int request_type, int request, int value, int index, u8* data, int length, USBCallback callback = 0, void* userData = 0);
-int USBInterruptTransfer(int device, int ep, u8* data, int length, USBCallback callback = 0, void* userData = 0);
-int USBBulkTransfer(int device, int ep, u8* data, int length, USBCallback callback = 0, void* userData = 0);
-
-// Standard Device methods
-int GetDescriptor(int device, int descType, int descIndex, u8* data, int length);
-int GetString(int device, int index, char* dst, int length);
-int SetAddress(int device, int new_addr);
-int SetConfiguration(int device, int configNum);
-int SetInterface(int device, int ifNum, int altNum);
-
-// Implemented to notify app of the arrival of a device
-void OnLoadDevice(int device, DeviceDescriptor* deviceDesc, InterfaceDescriptor* interfaceDesc);
-
-#endif
\ No newline at end of file
--- a/AndroidADKTerm/AndroidAccessory/USBHost/USBHost_log.cpp Fri Apr 26 06:36:57 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1175 +0,0 @@
-
-/*
-Copyright (c) 2010 Peter Barrett
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-*/
-
-
-#include "mbed.h"
-#include "USBHost.h"
-//#define USBHOST_LOG
-#ifdef USBHOST_LOG
-
-// Config (default uses x bytes)
-#define MAX_DEVICES 8 // Max number of devices
-#define MAX_ENDPOINTS_TOTAL 16 // Max number of endpoints total
-#define MAX_ENDPOINTS_PER_DEVICE 8 // Max number of endpoints for any one device
-
-//#define USBLOG 1
-#if USBLOG
-#define LOG(...) printf(__VA_ARGS__)
-#else
-#define LOG(...) do {} while(0)
-#endif
-
-// USB host structures
-
-#define USB_RAM_SIZE 16*1024 // AHB SRAM block 1 TODO MACHINE DEPENDENT
-#define USB_RAM_BASE 0x2007C000
-
-#define TOKEN_SETUP 0
-#define TOKEN_IN 1
-#define TOKEN_OUT 2
-
-// Status flags from hub
-#define PORT_CONNECTION 0
-#define PORT_ENABLE 1
-#define PORT_SUSPEND 2
-#define PORT_OVER_CURRENT 3
-#define PORT_RESET 4
-#define PORT_POWER 8
-#define PORT_LOW_SPEED 9
-
-#define C_PORT_CONNECTION 16
-#define C_PORT_ENABLE 17
-#define C_PORT_SUSPEND 18
-#define C_PORT_OVER_CURRENT 19
-#define C_PORT_RESET 20
-
-typedef struct {
- u8 bm_request_type;
- u8 b_request;
- u16 w_value;
- u16 w_index;
- u16 w_length;
-} Setup;
-
-
-// Hub stuff is kept private just to keep api simple
-int SetPortFeature(int device, int feature, int index);
-int ClearPortFeature(int device, int feature, int index);
-int SetPortPower(int device, int port);
-int SetPortReset(int device, int port);
-int GetPortStatus(int device, int port, u32* status);
-
-//===================================================================
-//===================================================================
-// Hardware defines
-
-// HcControl
-#define PeriodicListEnable 0x00000004
-#define IsochronousEnable 0x00000008
-#define ControlListEnable 0x00000010
-#define BulkListEnable 0x00000020
-#define OperationalMask 0x00000080
-#define HostControllerFunctionalState 0x000000C0
-
-// HcCommandStatus
-#define HostControllerReset 0x00000001
-#define ControlListFilled 0x00000002
-#define BulkListFilled 0x00000004
-
-// HcInterruptStatus Register
-#define WritebackDoneHead 0x00000002
-#define StartofFrame 0x00000004
-#define ResumeDetected 0x00000008
-#define UnrecoverableError 0x00000010
-#define FrameNumberOverflow 0x00000020
-#define RootHubStatusChange 0x00000040
-#define OwnershipChange 0x00000080
-#define MasterInterruptEnable 0x80000000
-
-// HcRhStatus
-#define SetGlobalPower 0x00010000
-#define DeviceRemoteWakeupEnable 0x00008000
-
-// HcRhPortStatus (hub 0, port 1)
-#define CurrentConnectStatus 0x00000001
-#define PortEnableStatus 0x00000002
-#define PortSuspendStatus 0x00000004
-#define PortOverCurrentIndicator 0x00000008
-#define PortResetStatus 0x00000010
-
-#define PortPowerStatus 0x00000100
-#define LowspeedDevice 0x00000200
-#define HighspeedDevice 0x00000400
-
-#define ConnectStatusChange (CurrentConnectStatus << 16)
-#define PortResetStatusChange (PortResetStatus << 16)
-
-
-#define TD_ROUNDING (u32)0x00040000
-#define TD_SETUP (u32)0x00000000
-#define TD_IN (u32)0x00100000
-#define TD_OUT (u32)0x00080000
-#define TD_DELAY_INT(x) (u32)((x) << 21)
-#define TD_TOGGLE_0 (u32)0x02000000
-#define TD_TOGGLE_1 (u32)0x03000000
-#define TD_CC (u32)0xF0000000
-
-// HostController EndPoint Descriptor
-typedef struct {
- volatile u32 Control;
- volatile u32 TailTd;
- volatile u32 HeadTd;
- volatile u32 Next;
-} HCED;
-
-// HostController Transfer Descriptor
-typedef struct {
- volatile u32 Control;
- volatile u32 CurrBufPtr;
- volatile u32 Next;
- volatile u32 BufEnd;
-} HCTD;
-
-// Host Controller Communication Area
-typedef struct {
- volatile u32 InterruptTable[32];
- volatile u16 FrameNumber;
- volatile u16 FrameNumberPad;
- volatile u32 DoneHead;
- volatile u8 Reserved[120];
-} HCCA;
-
-//====================================================================================
-//====================================================================================
-
-class HostController;
-class Endpoint;
-class Device;
-
-// must be 3*16 bytes long
-class Endpoint
-{
-public:
- HCED EndpointDescriptor; // Pointer to EndpointDescriptor == Pointer to Endpoint
- HCTD TDHead;
-
- enum State
- {
- Free,
- NotQueued,
- Idle,
- SetupQueued,
- DataQueued,
- StatusQueued,
- CallbackPending
- };
-
- volatile u8 CurrentState;
- u8 Flags; // 0x80 In, 0x03 mask endpoint type
-
- u16 Length;
- u8* Data;
- USBCallback Callback; // Must be a multiple of 16 bytes long
- void* UserData;
-
- int Address()
- {
- int ep = (EndpointDescriptor.Control >> 7) & 0xF;
- if (ep)
- ep |= Flags & 0x80;
- return ep;
- }
-
- int Device()
- {
- return EndpointDescriptor.Control & 0x7F;
- }
-
- int Status()
- {
- return (TDHead.Control >> 28) & 0xF;
- }
-
- u32 Enqueue(u32 head)
- {
- if (CurrentState == NotQueued)
- {
- EndpointDescriptor.Next = head;
- head = (u32)&EndpointDescriptor;
- CurrentState = Idle;
- }
- return head;
- }
-};
-
-class Device
-{
-public:
- u8 _endpointMap[MAX_ENDPOINTS_PER_DEVICE*2];
- u8 Hub;
- u8 Port;
- u8 Addr;
- u8 Pad;
-
- // Only if this device is a hub
- u8 HubPortCount; // nonzero if this is a hub
- u8 HubInterruptData;
- u8 HubMap;
- u8 HubMask;
-
- int Flags; // 1 = Disconnected
-
- Setup SetupBuffer;
-
- // Allocate endpoint zero
- int Init(DeviceDescriptor* d, int hub, int port, int addr, int lowSpeed)
- {
- Hub = hub;
- Port = port;
- Addr = addr;
- Flags = lowSpeed;
- memset(_endpointMap,0xFF,sizeof(_endpointMap));
- return 0;
- }
-
- int SetEndpointIndex(int ep, int endpointIndex)
- {
- for (int i = 0; i < MAX_ENDPOINTS_PER_DEVICE*2; i += 2)
- {
- if (_endpointMap[i] == 0xFF) // Add endpoint to map
- {
- _endpointMap[i] = ep;
- _endpointMap[i+1] = endpointIndex;
- return 0;
- }
- }
- return ERR_ENDPOINT_NONE_LEFT;
- }
-
- int GetEndpointIndex(int ep)
- {
- for (int i = 0; i < MAX_ENDPOINTS_PER_DEVICE*2; i += 2)
- {
- if (_endpointMap[i] == ep)
- return _endpointMap[i+1];
- if (_endpointMap[i] == 0xFF)
- break;
- }
- return -1;
- }
-};
-
-class HostController
-{
-public:
- HCCA CommunicationArea;
- Endpoint Endpoints[MAX_ENDPOINTS_TOTAL]; // Multiple of 16
-
- Endpoint EndpointZero; // For device enumeration
- HCTD _commonTail;
- Setup _setupZero;
-
- Device Devices[MAX_DEVICES];
- u32 _frameNumber; // 32 bit ms counter
-
- u8 _callbacksPending; // Endpoints with callbacks are pending, set from ISR via ProcessDoneQueue
- u8 _rootHubStatusChange; // Root hub status has changed, set from ISR
- u8 _unused0;
- u8 _unused1;
-
- u8 _connectPending; // Reset has initiated a connect
- u8 _connectCountdown; // Number of ms left after reset before we can connect
- u8 _connectHub; // Will connect on this hub
- u8 _connectPort; // ... and this port
-
- u8 SRAM[0]; // Start of free SRAM
-
- void Loop()
- {
- // printf("Enter Loop \r\n");
- u16 elapsed = CommunicationArea.FrameNumber - (u16)_frameNumber; // extend to 32 bits
- _frameNumber += elapsed;
-
- // Do callbacks, if any
- while (_callbacksPending)
- {
- for (int i = 0; i < MAX_ENDPOINTS_TOTAL; i++)
- {
- Endpoint* endpoint = Endpoints + i;
- if (endpoint->CurrentState == Endpoint::CallbackPending)
- {
- _callbacksPending--;
- endpoint->CurrentState = Endpoint::Idle;
- LOG("CurrentState Change Idle endpoint(%d) currentState =%d\r\n",endpoint->Address(),endpoint->CurrentState);
- endpoint->Callback(endpoint->Device(),endpoint->Address(),endpoint->Status(),endpoint->Data,endpoint->Length,endpoint->UserData);
- }
- }
- }
-
- // Deal with changes on the root hub
- if (_rootHubStatusChange)
- {
- u32 status = LPC_USB->HcRhPortStatus1;
- _rootHubStatusChange = 0;
- if (status >> 16)
- {
- HubStatusChange(0,1,status);
- LPC_USB->HcRhPortStatus1 = status & 0xFFFF0000; // clear status changes
- }
- }
-
- // Connect after reset timeout
- if (_connectCountdown)
- {
- if (elapsed >= _connectCountdown)
- {
- _connectCountdown = 0;
- Connect(_connectHub,_connectPort & 0x7F,_connectPort & 0x80);
- } else
- _connectCountdown -= elapsed;
- }
-
- // printf("Outer Loop \r\n");
- }
-
- // HubInterrupt - bitmap in dev->HubInterruptData
- void HubInterrupt(int device)
- {
- Device* dev = &Devices[device-1];
- for (int i = 0; i < dev->HubPortCount; i++)
- {
- int port = i+1;
- if (dev->HubInterruptData & (1 << port))
- {
- u32 status = 0;
- GetPortStatus(device,port,&status);
- if (status >> 16)
- {
- if (_connectPending && (status & ConnectStatusChange))
- continue; // Don't connect again until previous device has been added and addressed
-
- HubStatusChange(device,port,status);
- if (status & ConnectStatusChange)
- ClearPortFeature(device,C_PORT_CONNECTION,port);
- if (status & PortResetStatusChange)
- ClearPortFeature(device,C_PORT_RESET,port);
- }
- }
- }
- }
-
- static void HubInterruptCallback(int device, int endpoint, int status, u8* data, int len, void* userData)
- {
- HostController* controller = (HostController*)userData;
- if (status == 0)
- controller->HubInterrupt(device);
- USBInterruptTransfer(device,endpoint,data,1,HubInterruptCallback,userData);
- }
-
- int InitHub(int device)
- {
- u8 buf[16];
- int r= USBControlTransfer(device,DEVICE_TO_HOST | REQUEST_TYPE_CLASS | RECIPIENT_DEVICE,GET_DESCRIPTOR,(DESCRIPTOR_TYPE_HUB << 8),0,buf,sizeof(buf));
- if (r < 0)
- return ERR_HUB_INIT_FAILED;
-
- // turn on power on the hubs ports
- Device* dev = &Devices[device-1];
- int ports = buf[2];
- dev->HubPortCount = ports;
- for (int i = 0; i < ports; i++)
- SetPortPower(device,i+1);
-
- // Enable hub change interrupts
- return USBInterruptTransfer(device,0x81,&dev->HubInterruptData,1,HubInterruptCallback,this);
- }
-
- int AddEndpoint(int device, int ep, int attributes, int maxPacketSize, int interval)
- {
- LOG("AddEndpoint D:%02X A:%02X T:%02X P:%04X I:%02X\r\n",device,ep,attributes,maxPacketSize,interval);
- Device* dev = &Devices[device-1];
- Endpoint* endpoint = AllocateEndpoint(device,ep,attributes,maxPacketSize);
- if (!endpoint)
- return ERR_ENDPOINT_NONE_LEFT;
- dev->SetEndpointIndex(ep,endpoint - Endpoints);
- endpoint->EndpointDescriptor.Control |= dev->Flags; // Map in slow speed
- return 0; // TODO ed->bInterval
- }
-
- int AddEndpoint(int device, EndpointDescriptor* ed)
- {
- return AddEndpoint(device,ed->bEndpointAddress,ed->bmAttributes,ed->wMaxPacketSize,ed->bInterval);
- }
-
- // allocate a endpoint
- Endpoint* AllocateEndpoint(int device, int endpointAddress, int type, int maxPacketSize)
- {
- for (int i = 0; i < MAX_ENDPOINTS_TOTAL; i++)
- {
- Endpoint* ep = &Endpoints[i];
- if (ep->CurrentState == 0)
- {
- //LOG("Allocated endpoint %d to %02X:%02X\r\n",i,device,endpointAddress);
- ep->Flags = (endpointAddress & 0x80) | (type & 3);
- ep->CurrentState = Endpoint::NotQueued;
- ep->EndpointDescriptor.Control = (maxPacketSize << 16) | ((endpointAddress & 0x7F) << 7) | device;
- return ep;
- }
- }
- return 0;
- }
-
- Endpoint* GetEndpoint(int device, int ep)
- {
- if (device == 0)
- {
- //printf("WARNING: USING DEVICE 0\n");
- return &EndpointZero;
- }
- if (device > MAX_DEVICES)
- return 0;
- int i = Devices[device-1].GetEndpointIndex(ep);
- if (i == -1)
- return 0;
- return Endpoints + i;
- }
-
- int Transfer(Endpoint* endpoint, int token, u8* data, int len, int state)
- {
- //Makoto edit comment out
- // LOG("Transfer start\r\n");
- LOG("Transfer ep=%02X Token:%d Len:%d State:%d\r\n",endpoint->Address(),token,len,state);
-
- int toggle = 0;
- if (endpoint->Address() == 0)
- toggle = (token == TOKEN_SETUP) ? TD_TOGGLE_0 : TD_TOGGLE_1;
-
- if (token != TOKEN_SETUP)
- token = (token == TOKEN_IN ? TD_IN : TD_OUT);
-
- HCTD* head = &endpoint->TDHead;
- HCTD* tail = &_commonTail;
-
- head->Control = TD_ROUNDING | token | TD_DELAY_INT(0) | toggle | TD_CC;
- head->CurrBufPtr = (u32)data;
- head->BufEnd = (u32)(data + len - 1);
- head->Next = (u32)tail;
-
- HCED* ed = &endpoint->EndpointDescriptor;
- ed->HeadTd = (u32)head | (ed->HeadTd & 0x00000002); // carry toggle
- ed->TailTd = (u32)tail;
-
- //HCTD* td = head;
- //LOG("%04X TD %08X %08X %08X Next:%08X\r\n",CommunicationArea.FrameNumber,td->Control,td->CurrBufPtr,td->BufEnd,td->Next);
- //LOG("%04X ED %08X %08X %08X\r\n",CommunicationArea.FrameNumber,ed->Control,ed->HeadTd,ed->TailTd);
-
- //LOG("Transfer run01\r\n");
- switch (endpoint->Flags & 3)
- {
- case ENDPOINT_CONTROL:
- LOG("Transfer run ENDPOINT_CONTROL\r\n");
- LPC_USB->HcControlHeadED = endpoint->Enqueue(LPC_USB->HcControlHeadED); // May change state NotQueued->Idle
- //LOG("Transfer run02\r\n");
- LOG("endpoint->CurrentState change %d->%d\r\n",endpoint->CurrentState,state);
- endpoint->CurrentState = state; // Get in before an int
- LPC_USB->HcCommandStatus = LPC_USB->HcCommandStatus | ControlListFilled;
- LPC_USB->HcControl = LPC_USB->HcControl | ControlListEnable;
-
- break;
-
- case ENDPOINT_BULK:
- LOG("Transfer run ENDPOINT_BULK\r\n");
- LPC_USB->HcBulkHeadED = endpoint->Enqueue(LPC_USB->HcBulkHeadED);
- LOG("endpoint->CurrentState change %d->%d\r\n",endpoint->CurrentState,state);
- endpoint->CurrentState = state;
- LPC_USB->HcCommandStatus = LPC_USB->HcCommandStatus | BulkListFilled;
- LPC_USB->HcControl = LPC_USB->HcControl | BulkListEnable;
- break;
-
- case ENDPOINT_INTERRUPT:
- LOG("Transfer run ENDPOINT_INTERRUPT\r\n");
- CommunicationArea.InterruptTable[0] = endpoint->Enqueue(CommunicationArea.InterruptTable[0]);
- LOG("endpoint->CurrentState change %d->%d\r\n",endpoint->CurrentState,state);
- endpoint->CurrentState = state;
- LPC_USB->HcControl |= PeriodicListEnable;
- break;
- }
-
- LOG("Transfer end\r\n");
- return 0;
- }
-
- // Remove an endpoint from an active queue
- bool Remove(HCED* ed, volatile HCED** queue)
- {
- if (*queue == 0)
- return false;
- if (*queue == (volatile HCED*)ed)
- {
- *queue = (volatile HCED*)ed->Next; // At head of queue
- return true;
- }
-
- volatile HCED* head = *queue;
- while (head)
- {
- if (head->Next == (u32)ed)
- {
- head->Next = ed->Next;
- return true;
- }
- head = (volatile HCED*)head->Next;
- }
- return false;
- }
-
- void Release(Endpoint* endpoint)
- {
- if (endpoint->CurrentState == Endpoint::NotQueued)
- {
- // Never event used it, nothing to do
- }
- else
- {
- HCED* ed = (HCED*)endpoint;
- ed->Control |= 0x4000; // SKIP
- switch (endpoint->Flags & 0x03)
- {
- case ENDPOINT_CONTROL:
- Remove(ed,(volatile HCED**)&LPC_USB->HcControlHeadED);
- break;
- case ENDPOINT_BULK:
- Remove(ed,(volatile HCED**)&LPC_USB->HcBulkHeadED);
- break;
- case ENDPOINT_INTERRUPT:
- for (int i = 0; i < 32; i++)
- Remove(ed,(volatile HCED**)&CommunicationArea.InterruptTable[i]);
- break;
- }
-
- u16 fn = CommunicationArea.FrameNumber;
- while (fn == CommunicationArea.FrameNumber)
- ; // Wait for next frame
-
- }
-
- // In theory, the endpoint is now dead.
- // TODO: Will Callbacks ever be pending? BUGBUG
- memset(endpoint,0,sizeof(Endpoint));
- }
-
- // Pop the last TD from the list
- HCTD* Reverse(HCTD* current)
- {
- HCTD *result = NULL,*temp;
- while (current)
- {
- temp = (HCTD*)current->Next;
- current->Next = (u32)result;
- result = current;
- current = temp;
- }
- return result;
- }
-
- // Called from interrupt...
- // Control endpoints use a state machine to progress through the transfers
- void ProcessDoneQueue(u32 tdList)
- {
-
- LOG("<<ProcessDoneQueue enter>>\r\n");
- HCTD* list = Reverse((HCTD*)tdList);
- while (list)
- {
- Endpoint* endpoint = (Endpoint*)(list-1);
- list = (HCTD*)list->Next;
- int ep = endpoint->Address();
- bool in = endpoint->Flags & 0x80;
- int status = (endpoint->TDHead.Control >> 28) & 0xF;
-
- //LOG("ProcessDoneQueue %02X %08X\r\n",ep,endpoint->TDHead.Control);
-
- if (status != 0)
- {
- LOG("ProcessDoneQueue status %02X %d\r\n",ep,status);
- LOG("CurrentState Change Idle endpoint(%d) currentState =%d\r\n",endpoint->Address(),endpoint->CurrentState);
- endpoint->CurrentState = Endpoint::Idle;
-
-
- } else {
- switch (endpoint->CurrentState)
- {
- case Endpoint::SetupQueued:
- if (endpoint->Length == 0)
- {
- LOG("ProcessDoneQueue endpoint->Length == 0 endpoint->CurrentState=%d\r\n",endpoint->CurrentState);
- Transfer(endpoint,in ? TOKEN_OUT : TOKEN_IN,0,0,Endpoint::StatusQueued); // Skip Data Phase
- }
- else
- {
- LOG("ProcessDoneQueue endpoint->Length != 0 endpoint->CurrentState=%d\r\n",endpoint->CurrentState);
- Transfer(endpoint,in ? TOKEN_IN : TOKEN_OUT,endpoint->Data,endpoint->Length, Endpoint::DataQueued); // Setup is done, now Data
- }
- break;
-
- case Endpoint::DataQueued:
- if (endpoint->TDHead.CurrBufPtr)
- endpoint->Length = endpoint->TDHead.CurrBufPtr - (u32)endpoint->Data;
-
- if (ep == 0)
- {
- LOG("ProcessDoneQueue ep == 0 endpoint->CurrentState=%d\r\n",endpoint->CurrentState);
- Transfer(endpoint,in ? TOKEN_OUT : TOKEN_IN,0,0,Endpoint::StatusQueued); // Data is done, now Status, Control only
- }
- else
- {
-
- LOG("ProcessDoneQueue ep != 0 endpoint->CurrentState=%d\r\n",endpoint->CurrentState);
- endpoint->CurrentState = Endpoint::Idle;
- LOG("CurrentState Change Idle endpoint(%d) currentState =%d\r\n",endpoint->Address(),endpoint->CurrentState);
- }
- break;
-
- case Endpoint::StatusQueued: // Transaction is done
- LOG("CurrentState Change Idle endpoint(%d) currentState =%d\r\n",endpoint->Address(),endpoint->CurrentState);
- endpoint->CurrentState = Endpoint::Idle;
- break;
- }
- }
-
- // Complete, flag if we need a callback
- if (endpoint->Callback && endpoint->CurrentState == Endpoint::Idle)
- {
- endpoint->CurrentState = Endpoint::CallbackPending;
- _callbacksPending++;
- }
- }
- LOG("<<ProcessDoneQueue out>>\r\n");
- }
-
- // Hack to reset devices that don't want to connect
- int AddDevice(int hub, int port, bool isLowSpeed)
- {
- int device = AddDeviceCore(hub,port,isLowSpeed);
- if (device < 0)
- {
- LOG("========RETRY ADD DEVICE========\r\n"); // This will go for ever.. TODO power cycle root?
- Disconnect(hub,port); // Could not read descriptor at assigned address, reset this port and try again
- ResetPort(hub,port); // Cheap bluetooth dongles often need this on a hotplug
- return -1;
- }
- return device;
- }
-
- int AddDeviceCore(int hub, int port, bool isLowSpeed)
- {
- int lowSpeed = isLowSpeed ? 0x2000 : 0;
- DeviceDescriptor desc;
- EndpointZero.EndpointDescriptor.Control = (8 << 16) | lowSpeed; // MaxPacketSize == 8
- int r = GetDescriptor(0,DESCRIPTOR_TYPE_DEVICE,0,(u8*)&desc,8);
- if (r < 0)
- {
- LOG("FAILED TO LOAD DESCRIPTOR FOR DEVICE 0\r\n");
- return r;
- }
-
- EndpointZero.EndpointDescriptor.Control = (desc.bMaxPacketSize << 16) | lowSpeed; // Actual MaxPacketSize
- r = GetDescriptor(0,DESCRIPTOR_TYPE_DEVICE,0,(u8*)&desc,sizeof(desc));
- if (r < 0)
- return r;
-
- LOG("\nClass %02X found %04X:%04X\r\n",desc.bDeviceClass,desc.idVendor,desc.idProduct);
-
- // Now assign the device an address, move off EndpointZero
- int device = 0;
- for (int i = 0; i < MAX_DEVICES; i++)
- {
- if (Devices[i].Port == 0)
- {
- device = i+1;
- break;
- }
- }
- if (!device)
- return ERR_DEVICE_NONE_LEFT;
-
- r = SetAddress(0,device);
- if (r)
- return r;
- DelayMS(2);
-
- // Now at a nonzero address, create control endpoint
- Device* dev = &Devices[device-1];
- dev->Init(&desc,hub,port,device,lowSpeed);
- AddEndpoint(device,0,ENDPOINT_CONTROL,desc.bMaxPacketSize,0);
- _connectPending = 0;
-
- // Verify this all works
- r = GetDescriptor(device,DESCRIPTOR_TYPE_DEVICE,0,(u8*)&desc,sizeof(desc));
- if (r < 0)
- return r;
-
- // Set to interface 0 by default
- // Calls LoadDevice if interface is found
- r = SetConfigurationAndInterface(device,1,0,&desc);
-
- if (desc.bDeviceClass == CLASS_HUB)
- InitHub(device); // Handle hubs in this code
-
- return device;
- }
-
- // Walk descriptors and create endpoints for a given device
- // TODO configuration !=1, alternate settings etc.
- int SetConfigurationAndInterface(int device, int configuration, int interfaceNumber, DeviceDescriptor* desc)
- {
- u8 buffer[255];
- int err = GetDescriptor(device,DESCRIPTOR_TYPE_CONFIGURATION,0,buffer,sizeof(buffer));
- if (err < 0)
- return err;
-
- err = SetConfiguration(device,configuration);
- if (err < 0)
- return err;
-
- // Add the endpoints for this interface
- int len = buffer[2] | (buffer[3] << 8);
- u8* d = buffer;
- u8* end = d + len;
- InterfaceDescriptor* found = 0;
- while (d < end)
- {
- if (d[1] == DESCRIPTOR_TYPE_INTERFACE)
- {
- InterfaceDescriptor* id = (InterfaceDescriptor*)d;
- if (id->bInterfaceNumber == interfaceNumber)
- {
- found = id;
- d += d[0];
- while (d < end && d[1] != DESCRIPTOR_TYPE_INTERFACE)
- {
- switch (d[1])
- {
- case DESCRIPTOR_TYPE_ENDPOINT:
- AddEndpoint(device,(EndpointDescriptor*)d);
- break;
- default:
- LOG("Skipping descriptor %02X (%d bytes)\r\n",d[1],d[0]);
- }
- d += d[0];
- }
- }
- }
- d += d[0];
- }
-
- if (!found)
- return ERR_INTERFACE_NOT_FOUND;
- OnLoadDevice(device,desc,found);
- return 0;
- }
-
- void Init()
- {
- LOG("USB INIT (Controller is %d bytes)\r\n",sizeof(*this));
- memset(this,0,sizeof(HostController));
- EndpointZero.CurrentState = Endpoint::NotQueued;
- HWInit(&CommunicationArea);
- DelayMS(10);
- }
-
- void ResetPort(int hub, int port)
- {
- LOG("ResetPort Hub:%d Port:%d\r\n",hub,port);
- _connectPending++; // Only reset/add 1 device at a time
- if (hub == 0)
- LPC_USB->HcRhPortStatus1 = PortResetStatus; // Reset Root Hub, port 1
- else
- SetPortReset(hub,port); // or reset other hub
- }
-
- void Disconnect(int hub, int port)
- {
- LOG("Disconnect Hub:%d Port:%d\r\n",hub,port); // Mark a device for destruction
- for (int i = 0; i < MAX_DEVICES; i++)
- {
- Device* dev = Devices + i;
- if (dev->Port == port && dev->Hub == hub)
- {
- // Disconnect everything that is attached to this device if it is a hub
- for (int p = 0; p < dev->HubPortCount; p++)
- Disconnect(i+1,p+1);
-
- // Now release endpoints
- for (int j = 1; j < MAX_ENDPOINTS_PER_DEVICE*2; j += 2)
- {
- u8 endpointIndex = dev->_endpointMap[j];
- if (endpointIndex != 0xFF)
- Release(Endpoints + endpointIndex);
- }
- dev->Port = 0; // Device is now free
- dev->Flags = 0;
- return;
- }
- }
- }
-
- // called after reset
- void Connect(int hub, int port, bool lowspeed)
- {
- LOG("Connect Hub:%d Port:%d %s\r\n",hub,port,lowspeed ? "slow" : "full");
- AddDevice(hub,port,lowspeed);
- }
-
- // Called from interrupt
- void HubStatusChange(int hub, int port, u32 status)
- {
- LOG("HubStatusChange Hub:%d Port:%d %08X\r\n",hub,port,status);
- if (status & ConnectStatusChange)
- {
- if (status & CurrentConnectStatus) // Connecting
- ResetPort(hub,port); // Reset to initiate connect (state machine?)
- else
- Disconnect(hub,port);
- }
-
- if (status & PortResetStatusChange)
- {
- if (!(status & PortResetStatus))
- {
- _connectCountdown = 200; // Schedule a connection in 200ms
- if (status & LowspeedDevice)
- port |= 0x80;
- _connectHub = hub;
- _connectPort = port;
- }
- }
- }
-
- #define HOST_CLK_EN (1<<0)
- #define PORTSEL_CLK_EN (1<<3)
- #define AHB_CLK_EN (1<<4)
- #define CLOCK_MASK (HOST_CLK_EN | PORTSEL_CLK_EN | AHB_CLK_EN)
-
- #define FRAMEINTERVAL (12000-1) // 1ms
- #define DEFAULT_FMINTERVAL ((((6 * (FRAMEINTERVAL - 210)) / 7) << 16) | FRAMEINTERVAL)
-
- void DelayMS(int ms)
- {
- u16 f = ms + CommunicationArea.FrameNumber;
- while (f != CommunicationArea.FrameNumber)
- ;
- }
-
- static void HWInit(HCCA* cca)
- {
- NVIC_DisableIRQ(USB_IRQn);
-
- // turn on power for USB
- LPC_SC->PCONP |= (1UL<<31);
- // Enable USB host clock, port selection and AHB clock
- LPC_USB->USBClkCtrl |= CLOCK_MASK;
- // Wait for clocks to become available
- while ((LPC_USB->USBClkSt & CLOCK_MASK) != CLOCK_MASK)
- ;
-
- // We are a Host
- LPC_USB->OTGStCtrl |= 1;
- LPC_USB->USBClkCtrl &= ~PORTSEL_CLK_EN; // we don't need port selection clock until we do OTG
-
- // configure USB pins
- LPC_PINCON->PINSEL1 &= ~((3<<26)|(3<<28));
- LPC_PINCON->PINSEL1 |= ((1<<26)|(1<<28)); // USB D+/D-
-
- LPC_PINCON->PINSEL3 &= ~((3 << 6) | (3 << 22)); // USB_PPWR, USB_OVRCR
- LPC_PINCON->PINSEL3 |= ((2 << 6) | (2 << 22));
-
- LPC_PINCON->PINSEL4 &= ~(3 << 18); // USB_CONNECT
- LPC_PINCON->PINSEL4 |= (1 << 18);
-
- // Reset OHCI block
- LPC_USB->HcControl = 0;
- LPC_USB->HcControlHeadED = 0;
- LPC_USB->HcBulkHeadED = 0;
-
- LPC_USB->HcCommandStatus = HostControllerReset;
- LPC_USB->HcFmInterval = DEFAULT_FMINTERVAL;
- LPC_USB->HcPeriodicStart = FRAMEINTERVAL*90/100;
-
- LPC_USB->HcControl = (LPC_USB->HcControl & (~HostControllerFunctionalState)) | OperationalMask;
- LPC_USB->HcRhStatus = SetGlobalPower;
-
- LPC_USB->HcHCCA = (u32)cca;
- LPC_USB->HcInterruptStatus |= LPC_USB->HcInterruptStatus;
- LPC_USB->HcInterruptEnable = MasterInterruptEnable | WritebackDoneHead | RootHubStatusChange | FrameNumberOverflow;
-
- NVIC_SetPriority(USB_IRQn, 0);
- NVIC_EnableIRQ(USB_IRQn);
- while (cca->FrameNumber < 10)
- ; // 10ms delay before diving in
- }
-};
-
-//====================================================================================
-//====================================================================================
-// Host controller instance and Interrupt handler
-
-static HostController _controller __attribute__((at(USB_RAM_BASE)));
-
-extern "C" void USB_IRQHandler(void) __irq;
-void USB_IRQHandler (void) __irq
-{
-LOG("USB_IRQHandler start \r\n");
- u32 int_status = LPC_USB->HcInterruptStatus;
- LOG("USB_IRQHandler int_status=%0x\r\n",int_status);
-
- if(int_status & UnrecoverableError) //Error
- {
- LOG("USB_IRQHandler UnrecoverableError Please reset\r\n");
- }
-
- if(int_status & MasterInterruptEnable)
- {
- LOG("USB_IRQHandler MasterInterruptEnable\r\n");
- }
-
- if(int_status &OwnershipChange)
- {
- LOG("USB_IRQHandler OwnershipChange\r\n");
- }
-
- if(int_status &FrameNumberOverflow)
- {
- LOG("USB_IRQHandler FrameNumberOverflow\r\n");
- }
- if(int_status&ResumeDetected)
- {
- LOG("USB_IRQHandler ResumeDetected\r\n");
- }
- if(int_status&StartofFrame)
- {
- LOG("USB_IRQHandler StartofFrame\r\n");
- }
-
-
- if (int_status & RootHubStatusChange) // Root hub status change
- {
- LOG("USB_IRQHandler _rootHubStatusChange %0x->%0x \r\n", _controller._rootHubStatusChange, _controller._rootHubStatusChange+1);
- _controller._rootHubStatusChange++; // Just flag the controller, will be processed in USBLoop
- }
-
- u32 head = 0;
- if (int_status & WritebackDoneHead)
- {
- head = _controller.CommunicationArea.DoneHead; // Writeback Done
- _controller.CommunicationArea.DoneHead = 0;
- LOG("USB_IRQHandler head=%0x\r\n",head);
- }
- LPC_USB->HcInterruptStatus = int_status;
-
- if (head)
- _controller.ProcessDoneQueue(head); // TODO - low bit can be set BUGBUG
-LOG("USB_IRQHandler end \r\n");
-}
-
-//====================================================================================
-//====================================================================================
-// API Methods
-
-void USBInit()
-{
- return _controller.Init();
-}
-
-void USBLoop()
-{
- return _controller.Loop();
-}
-
-u8* USBGetBuffer(u32* len)
-{
- *len = USB_RAM_SIZE - sizeof(HostController);
- return _controller.SRAM;
-}
-
-static Setup* GetSetup(int device)
-{
- if (device == 0)
- return &_controller._setupZero;
-
- if (device < 1 || device > MAX_DEVICES)
- return 0;
- return &_controller.Devices[device-1].SetupBuffer;
-}
-
-// Loop until IO on endpoint is complete
-static int WaitIODone(Endpoint* endpoint)
-{
- LOG("WaitIODone start\r\n");
- if (endpoint->CurrentState == Endpoint::NotQueued)
- return 0;
- while (endpoint->CurrentState != Endpoint::Idle)
- {
- LOG("WaitIODone goto USBloop endpoint->CurrentState =%d \r\n",endpoint->CurrentState);
- USBLoop(); // May generate callbacks, mount or unmount devices etc
- }
- int status = endpoint->Status();
-
- LOG("WaitIODone end\r\n");
- if (status == 0)
- return endpoint->Length;
- return -status;
-}
-
-int USBTransfer(int device, int ep, u8 flags, u8* data, int length, USBCallback callback, void* userData)
-{
- //LOG("USBTRANSFER start\r\n");
- Endpoint* endpoint = _controller.GetEndpoint(device,ep);
- if (!endpoint)
- {
- LOG("USBTRANSFER error Endpoint not found!!\r\n");
- return ERR_ENDPOINT_NOT_FOUND;
- }
-
- //LOG("USBTRANSFER run01\r\n");
- WaitIODone(endpoint);
- endpoint->Flags = flags;
- endpoint->Data = data;
- endpoint->Length = length;
- endpoint->Callback = callback;
- endpoint->UserData = userData;
- //LOG("USBTRANSFER run02\r\n");
- if (ep == 0)
- {
- LOG("USBTRANSFER ep == 0(Setup) ------------------------------\r\n");
- _controller.Transfer(endpoint,TOKEN_SETUP,(u8*)GetSetup(device),8,Endpoint::SetupQueued);
- }
- else
- {
- LOG("USBTRANSFER ep != 0\r\n");
- _controller.Transfer(endpoint,flags & 0x80 ? TOKEN_IN : TOKEN_OUT,data,length,Endpoint::DataQueued);
- }
- if (callback)
- {
- LOG("USBTRANSFER end io_pending\r\n");
- return IO_PENDING;
- }
- LOG("USBTRANSFER end wait io done \r\n");
- return WaitIODone(endpoint);
-}
-
-int USBControlTransfer(int device, int request_type, int request, int value, int index, u8* data, int length, USBCallback callback, void * userData)
-{
- Setup* setup = GetSetup(device);
- if (!setup)
- return ERR_DEVICE_NOT_FOUND;
-
- // Async control calls may overwrite setup buffer of previous call, so we need to wait before setting up next call
- WaitIODone(_controller.GetEndpoint(device,0));
-
- setup->bm_request_type = request_type;
- setup->b_request = request;
- setup->w_value = value;
- setup->w_index = index;
- setup->w_length = length;
- LOG("USBControlTransfer(device=%d,reqtype=%d,req=%d,value=%d,index=%d,data=%p,len=%d,callbak=%p,udata=%p)\r\n",
- device,request_type,request,value,index,data,length,callback,userData);
- return USBTransfer(device,0,request_type & DEVICE_TO_HOST,data,length,callback,userData);
-}
-
-int USBInterruptTransfer(int device, int ep, u8* data, int length, USBCallback callback, void* userData)
-{
- return USBTransfer(device,ep,(ep & 0x80) | ENDPOINT_INTERRUPT,data,length,callback,userData);
-}
-
-int USBBulkTransfer(int device, int ep, u8* data, int length, USBCallback callback, void* userData)
-{
- return USBTransfer(device,ep,(ep & 0x80) | ENDPOINT_BULK,data,length,callback,userData);
-}
-
-int GetDescriptor(int device, int descType,int descIndex, u8* data, int length)
-{
- return USBControlTransfer(device,DEVICE_TO_HOST | RECIPIENT_DEVICE, GET_DESCRIPTOR,(descType << 8)|(descIndex), 0, data, length, 0);
-}
-
-int GetString(int device, int index, char* dst, int length)
-{
- u8 buffer[255];
- int le = GetDescriptor(device,DESCRIPTOR_TYPE_STRING,index,buffer,sizeof(buffer));
- if (le < 0)
- return le;
- if (length < 1)
- return -1;
- length <<= 1;
- if (le > length)
- le = length;
- for (int j = 2; j < le; j += 2)
- *dst++ = buffer[j];
- *dst = 0;
- return (le>>1)-1;
-}
-
-int SetAddress(int device, int new_addr)
-{
- return USBControlTransfer(device,HOST_TO_DEVICE | RECIPIENT_DEVICE, SET_ADDRESS, new_addr, 0, 0, 0, 0);
-}
-
-int SetConfiguration(int device, int configNum)
-{
- return USBControlTransfer(device,HOST_TO_DEVICE | RECIPIENT_DEVICE, SET_CONFIGURATION, configNum, 0, 0, 0, 0);
-}
-
-int SetInterface(int device, int ifNum, int altNum)
-{
- return USBControlTransfer(device,HOST_TO_DEVICE | RECIPIENT_INTERFACE, SET_INTERFACE, altNum, ifNum, 0, 0, 0);
-}
-
-// HUB stuff
-int SetPortFeature(int device, int feature, int index)
-{
- return USBControlTransfer(device,HOST_TO_DEVICE | REQUEST_TYPE_CLASS | RECIPIENT_OTHER,SET_FEATURE,feature,index,0,0);
-}
-
-int ClearPortFeature(int device, int feature, int index)
-{
- return USBControlTransfer(device,HOST_TO_DEVICE | REQUEST_TYPE_CLASS | RECIPIENT_OTHER,CLEAR_FEATURE,feature,index,0,0);
-}
-
-int SetPortPower(int device, int port)
-{
- int r = SetPortFeature(device,PORT_POWER,port);
- _controller.DelayMS(20); // 80ms to turn on a hubs power... DESCRIPTOR? todo
- return r;
-}
-
-int SetPortReset(int device, int port)
-{
- return SetPortFeature(device,PORT_RESET,port);
-}
-
-int GetPortStatus(int device, int port, u32* status)
-{
- return USBControlTransfer(device,DEVICE_TO_HOST | REQUEST_TYPE_CLASS | RECIPIENT_OTHER,GET_STATUS,0,port,(u8*)status,4);
-}
-
-#endif
\ No newline at end of file
--- a/AndroidADKTerm/android.cpp Fri Apr 26 06:36:57 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,154 +0,0 @@
-#include "android.h"
-//#define PI 3.141592654f
-using namespace std;
-
-AdkTerm::AdkTerm(RobotControl* robotControl,
- state_t* s,
- float period)
- : AndroidAccessory(INBL,
- OUTL,
- "ARM",
- "mbed",
- "mbed Terminal",
- "0.1",
- "http://www.mbed.org",
- "0000000012345678"),
- Task(period)
-{
- this->robotControl = robotControl;
- this->period = period;
- this->s = s;
-};
-
-void AdkTerm::setupDevice()
-{
- for (int i = 0; i<OUTL; i++) {
- buffer[i] = 0;
- }
- bcount = 0;
-}
-
-float AdkTerm::getDesiredX()
-{
- return desiredX/1000;
-}
-
-float AdkTerm::getDesiredY()
-{
- return desiredY/1000;
-}
-
-float AdkTerm::getDesiredTheta()
-{
- return desiredTheta * PI / 180;
-}
-
-
-void AdkTerm::run()
-{
-
- u8* wbuf = _writebuff;
-
- // floats to string
- char str[100];
-
- //send to android
- sprintf( str, "%f;%f;%f;%i;%i;%i;%f;;", robotControl->getxActualPosition(),
- robotControl->getyActualPosition(),
- robotControl->getActualTheta() * 180 / PI,
- s->state&STATE_UNDER == 0 ? 0 : 1,
- s->state&STATE_LEFT == 0 ? 0 : 1,
- s->state&STATE_RIGHT == 0 ? 0 : 1,
- s->voltageBattery);
-
- //copy to wbuf
- strcpy( (char*) wbuf, str );
-
- this->write(wbuf,100);
-
-}
-
-void AdkTerm::resetDevice()
-{
- for (int i = 0; i<OUTL; i++) {
- buffer[i] = 0;
- }
- bcount = 0;
-}
-
-void AdkTerm::Tokenize(const string& str,
- vector<string>& tokens,
- const string& delimiters /*= " "*/)
-{
- // Skip delimiters at beginning.
- string::size_type lastPos = str.find_first_not_of(delimiters, 0);
- // Find first "non-delimiter".
- string::size_type pos = str.find_first_of(delimiters, lastPos);
-
- while (string::npos != pos || string::npos != lastPos) {
- // Found a token, add it to the vector.
- tokens.push_back(str.substr(lastPos, pos - lastPos));
- // Skip delimiters. Note the "not_of"
- lastPos = str.find_first_not_of(delimiters, pos);
- // Find next "non-delimiter"
- pos = str.find_first_of(delimiters, lastPos);
- }
-}
-
-int AdkTerm::callbackRead(u8 *buf, int len)
-{
- // convert buffer (unsigned char) to string
- std::string str(reinterpret_cast<char*>(buf), len);
-
- // new vector of strings
- vector<string> tokens;
-
- // tokenize the string with the semicolon separator
- Tokenize(str, tokens, ";");
- copy(tokens.begin(), tokens.end(), ostream_iterator<string>(cout, ", "));
-
-
- if(tokens.size() > 2) {
-
- //string to float
- desiredX = ::atof(tokens.at(0).c_str());
- desiredY = ::atof(tokens.at(1).c_str());
- desiredTheta = ::atof(tokens.at(2).c_str());
- }
-
- return 0;
-}
-
-int AdkTerm::callbackWrite()
-{
- ind = false;
- return 0;
-}
-
-void AdkTerm::serialIRQ()
-{
- //buffer[bcount] = pc.getc();
-
-
- if (buffer[bcount] == '\n' || buffer[bcount] == '\r') {
- u8* wbuf = _writebuff;
- for (int i = 0; i<OUTL; i++) {
- wbuf[i] = buffer[i];
- buffer[i] = 0;
- }
- //pc.printf("Sending: %s\n\r",wbuf);
- ind = true;
- this->write(wbuf,bcount);
- bcount = 0;
- } else {
- if (buffer[bcount] != 0x08 && buffer[bcount] != 0x7F ) {
- bcount++;
- if (bcount == OUTL) {
- bcount = 0;
- }
- } else {
- bcount--;
- }
- }
-
-}
\ No newline at end of file
--- a/AndroidADKTerm/android.h Fri Apr 26 06:36:57 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,139 +0,0 @@
-#ifndef _ANDROID_H_
-#define _ANDROID_H_
-
-#include "RobotControl.h"
-#include "mbed.h"
-#include "AndroidAccessory.h"
-#include "defines.h"
-#include <string>
-#include <sstream>
-#include <vector>
-#include <iostream>
-#include <stdlib.h>
-
-/**
- * @author Arno Galliker
- *
- * @copyright Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe
- * All rights reserved.
- *
- * @brief
- *
- * This class implements communication with the android smartphone
- * For more information see the Android ADK Cookbook:
- * <a href="http://mbed.org/cookbook/mbed-with-Android-ADK">http://mbed.org/cookbook/mbed-with-Android-ADK</a>
- *
- * Originally created by p07gbar from work by Makoto Abe.
- */
-
-class AdkTerm : public AndroidAccessory, public Task
-{
-
-private:
-
- /** @brief Instance of RobotControl*/
- RobotControl* robotControl;
-
- float period;
-
- /** @brief Char buffer with a size of OUTL */
- char buffer[OUTL];
-
- state_t* s;
-
- /** @brief Buffer count ??? */
- int bcount;
-
- /** @brief States if something is written to the buffer?? */
- bool ind;
-
- /** @brief Desired position in meters for x-coordinate, given by android */
- float desiredX;
-
- /** @brief Desired position in meters for y-coordinate, given by android */
- float desiredY;
-
- /** @brief Desired position in degrees for theta, given by android */
- float desiredTheta;
-
-public:
-
- /**
- * @brief Creates a <code>AdkTerm</code> object and initializes all private
- * state variables. Constructor
- * @param robotControl RobotControl obejct reference
- * @param s referenz to the state struct.
- * @param period length of a period in seconds
- */
- AdkTerm(RobotControl* robotControl, state_t* s, float period);
-
- /**
- * @brief Sets initial configurations and clears the buffer
- */
- void setupDevice();
-
- /**
- * @brief Returns the desired position in meters for x-coordinate, given by android
- * @return x-coordinate,given in [m]
- */
- float getDesiredX();
-
- /**
- * @brief Returns the desired position in meters for y-coordinate, given by android
- * @return y-coordinate,given in [m]
- */
- float getDesiredY();
-
- /**
- * @brief Returns the desired position in degrees for theta, given by android
- * @return y-coordinate,given in degrees [°]
- */
- float getDesiredTheta();
-
- /** @brief Method to call when a tick period is over */
- void onTick();
-
-private:
-
- /**
- * @brief Clears the buffer and bcount
- */
- void resetDevice();
-
- /**
- * @brief Takes an string, a vector of strings for the delimited tokens, and a with the
- * @param str
- * @param tokens
- * @param delimiters
- */
- void Tokenize(const string& str,
- vector<string>& tokens,
- const string& delimiters = " ");
-
- /**
- * @brief Read and cast incomming messages.
- * @param buf
- * @param len
- * @return success
- */
- int callbackRead(u8 *buf, int len);
-
- /**
- * @brief To send the buffer over the USB-Connection
- * @return success
- */
- int callbackWrite();
-
- /**
- * @brief Generating messages via serial interface for debuging.
- */
- void serialIRQ();
-
- /**
- * @brief Run method actualize every period
- */
- void run();
-
-};
-
-#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MicroBridge/ADB/Adb.cpp Fri May 03 08:35:29 2013 +0000
@@ -0,0 +1,891 @@
+/*
+ Copyright 2011 Niels Brouwers
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/* Changed by Junichi Katsu */
+
+#include <string.h>
+#include <Adb.h>
+
+//#define DEBUG
+
+#define MAX_BUF_SIZE 128
+
+#ifdef DEBUG
+#define log(...) printf(__VA_ARGS__)
+#else
+#define log(...) do {} while(0)
+#endif
+
+int input_ep;
+int output_ep;
+int _device;
+int _configuration;
+int _interfaceNumber;
+
+static Connection * firstConnection;
+static boolean connected;
+static int connectionLocalId = 1;
+unsigned char readbuff[MAX_BUF_SIZE];
+
+// Event handler callback function.
+adb_eventHandler * eventHandler;
+
+ADB* _adb;
+PacketBuffer recv_packet_buf(100,MAX_BUF_SIZE);
+Ticker timer;
+
+int time_ms = 0;
+
+
+void attime(void)
+{
+ time_ms++;
+}
+
+int millis()
+{
+ return(time_ms);
+}
+
+char *strdup(const char *src)
+{
+ char *p;
+
+ if(src == NULL){
+ return NULL;
+ }
+
+ p = (char *)malloc(strlen(src) + 1);
+ if(p != NULL) strcpy(p, src);
+ return p;
+
+}
+
+/**
+ * Initialises the ADB protocol. This function initialises the USB layer underneath so no further setup is required.
+ */
+void ADB::init()
+{
+ recv_packet_buf.clear();
+
+ // Signal that we are not connected.
+ _device = 0;
+ connected = false;
+
+
+ // Initialise Usb host.
+ USBInit();
+
+ timer.attach_us(&attime, 1000);
+}
+
+/**
+ * Sets the ADB event handler function. This function will be called by the ADB layer
+ * when interesting events occur, such as ADB connect/disconnect, connection open/close, and
+ * connection writes from the ADB device.
+ *
+ * @param handler event handler function.
+ */
+void ADB::setEventHandler(adb_eventHandler * handler)
+{
+ eventHandler = handler;
+}
+
+/**
+ * Fires an ADB event.
+ * @param connection ADB connection. May be NULL in case of global connect/disconnect events.
+ * @param type event type.
+ * @param length payload length or zero if no payload.
+ * @param data payload data if relevant or NULL otherwise.
+ */
+void ADB::fireEvent(Connection * connection, adb_eventType type, uint16_t length, uint8_t * data)
+{
+ // Fire the global event handler, if set.
+ if (eventHandler!=NULL)
+ eventHandler(connection, type, length, data);
+
+ // Fire the event handler of the connection in question, if relevant
+ if (connection!=NULL && connection->eventHandler!=NULL)
+ connection->eventHandler(connection, type, length, data);
+}
+
+/**
+ * Adds a new ADB connection. The connection string is per ADB specs, for example "tcp:1234" opens a
+ * connection to tcp port 1234, and "shell:ls" outputs a listing of the phone root filesystem. Connections
+ * can be made persistent by setting reconnect to true. Persistent connections will be automatically
+ * reconnected when the USB cable is re-plugged in. Non-persistent connections will connect only once,
+ * and should never be used after they are closed.
+ *
+ * The connection string is copied into the Connection record and may not exceed ADB_CONNECTIONSTRING_LENGTH-1
+ * characters.
+ *
+ * @param connectionString ADB connectionstring. I.e. "tcp:1234" or "shell:ls".
+ * @param reconnect true for automatic reconnect (persistent connections).
+ * @param handler event handler.
+ * @return an ADB connection record or NULL on failure (not enough slots or connection string too long).
+ */
+Connection * ADB::addConnection(const char * connectionString, boolean reconnect, adb_eventHandler * handler)
+{
+
+ // Allocate a new ADB connection object
+ Connection * connection = (Connection*)malloc(sizeof(Connection));
+ if (connection == NULL) return NULL;
+
+ // Allocate memory for the connection string
+ connection->connectionString = (char*)strdup(connectionString);
+ if (connection->connectionString==NULL)
+ {
+ // Free the connection object and return null
+ free(connection);
+ return NULL;
+ }
+
+ // Initialise the newly created object.
+ connection->localID = connectionLocalId ++;
+ connection->status = ADB_CLOSED;
+ connection->lastConnectionAttempt = 0;
+ connection->reconnect = reconnect;
+ connection->eventHandler = handler;
+
+ // Add the connection to the linked list. Note that it's easier to just insert
+ // at position 0 because you don't have to traverse the list :)
+ connection->next = firstConnection;
+ firstConnection = connection;
+
+ // Unable to find an empty spot, all connection slots in use.
+ return connection;
+}
+
+/**
+ * Prints an ADB_message, for debugging purposes.
+ * @param message ADB message to print.
+ */
+#ifdef DEBUG
+static void adb_printMessage(adb_message * message)
+{
+ switch(message->command)
+ {
+ case A_OKAY:
+ printf("OKAY message [%lx] %ld %ld\r\n", message->command, message->arg0, message->arg1);
+ break;
+ case A_CLSE:
+ printf("CLSE message [%lx] %ld %ld\r\n", message->command, message->arg0, message->arg1);
+ break;
+ case A_WRTE:
+ printf("WRTE message [%lx] %ld %ld, %ld bytes\r\n", message->command, message->arg0, message->arg1, message->data_length);
+ break;
+ case A_CNXN:
+ printf("CNXN message [%lx] %ld %ld\r\n", message->command, message->arg0, message->arg1);
+ break;
+ case A_SYNC:
+ printf("SYNC message [%lx] %ld %ld\r\n", message->command, message->arg0, message->arg1);
+ break;
+ case A_OPEN:
+ printf("OPEN message [%lx] %ld %ld\r\n", message->command, message->arg0, message->arg1);
+ break;
+ default:
+ printf("WTF message [%lx] %ld %ld\r\n", message->command, message->arg0, message->arg1);
+ break;
+ }
+}
+#endif
+
+/**
+ * Writes an empty message (without payload) to the ADB device.
+ *
+ * @param device USB device handle.
+ * @param command ADB command.
+ * @param arg0 first ADB argument (command dependent).
+ * @param arg0 second ADB argument (command dependent).
+ * @return error code or 0 for success.
+ */
+int ADB::writeEmptyMessage(int device, uint32_t command, uint32_t arg0, uint32_t arg1)
+{
+ adb_message message;
+
+ message.command = command;
+ message.arg0 = arg0;
+ message.arg1 = arg1;
+ message.data_length = 0;
+ message.data_check = 0;
+ message.magic = command ^ 0xffffffff;
+
+#ifdef DEBUG
+ printf("OUT << "); adb_printMessage(&message);
+#endif
+
+ int r = USBBulkTransfer( device , output_ep , (uint8_t*)&message , sizeof(adb_message) );
+
+#ifdef DEBUG
+ log("[writeMessage1] size:%d\r\n",r);
+
+ int ii,jj;
+ uint8_t* buf = (uint8_t*)&message;
+ for(ii = 0 ; ii < r ; ii+=16)
+ {
+ for(jj = 0 ; jj < 16 ; jj+=2 )
+ {
+ log("%02X%02X ",buf[ii+jj],buf[ii+jj+1]);
+ if((ii+jj) > r) break;
+ }
+ log(" : ");
+ for(jj = 0 ; jj < 16 ; jj+=2 )
+ {
+ log("%c%c",buf[ii+jj],buf[ii+jj+1]);
+ if((ii+jj) > r) break;
+ }
+ log("\r\n");
+ if((ii+jj) > r) break;
+ }
+#endif
+
+ return r;
+}
+
+/**
+ * Writes an ADB message with payload to the ADB device.
+ *
+ * @param device USB device handle.
+ * @param command ADB command.
+ * @param arg0 first ADB argument (command dependent).
+ * @param arg0 second ADB argument (command dependent).
+ * @param length payload length.
+ * @param data command payload.
+ * @return error code or 0 for success.
+ */
+int ADB::writeMessage(int device, uint32_t command, uint32_t arg0, uint32_t arg1, uint32_t length, uint8_t * data)
+{
+ adb_message message;
+ uint8_t msg[256];
+ uint32_t count, sum = 0;
+ uint8_t * x;
+
+ // Calculate data checksum
+ count = length;
+ x = data;
+ while(count-- > 0) sum += *x++;
+
+ // Fill out the message record.
+ message.command = command;
+ message.arg0 = arg0;
+ message.arg1 = arg1;
+ message.data_length = length;
+ message.data_check = (sum);
+ message.magic = command ^ 0xffffffff;
+
+#ifdef DEBUG
+ printf("OUT << "); adb_printMessage(&message);
+#endif
+
+ int r = USBBulkTransfer( device , output_ep , (uint8_t*)&message , sizeof(adb_message) );
+
+ if (r<0) return r;
+
+#ifdef DEBUG
+ log("[writeMessage1] size:%d\r\n",r);
+
+ int ii,jj;
+ uint8_t* buf = (uint8_t*)&message;
+ for(ii = 0 ; ii < r ; ii+=16)
+ {
+ for(jj = 0 ; jj < 16 ; jj+=2 )
+ {
+ log("%02X%02X ",buf[ii+jj],buf[ii+jj+1]);
+ if((ii+jj) > r) break;
+ }
+ log(" : ");
+ for(jj = 0 ; jj < 16 ; jj+=2 )
+ {
+ log("%c%c",buf[ii+jj],buf[ii+jj+1]);
+ if((ii+jj) > r) break;
+ }
+ log("\r\n");
+ if((ii+jj) > r) break;
+ }
+#endif
+
+ memcpy( msg , data , length );
+
+ r = USBBulkTransfer( device , output_ep , msg , length );
+ log("USB SEND RET2:%d\r\n",r);
+
+ if (r<0) return r;
+
+#ifdef DEBUG
+ log("[writeMessage2] size:%d\r\n",r);
+
+ buf = msg;
+ for(ii = 0 ; ii < r ; ii+=16)
+ {
+ for(jj = 0 ; jj < 16 ; jj+=2 )
+ {
+ log("%02X%02X ",buf[ii+jj],buf[ii+jj+1]);
+ if((ii+jj) > r) break;
+ }
+ log(" : ");
+ for(jj = 0 ; jj < 16 ; jj+=2 )
+ {
+ log("%c%c",buf[ii+jj],buf[ii+jj+1]);
+ if((ii+jj) > r) break;
+ }
+ log("\r\n");
+ if((ii+jj) > r) break;
+ }
+#endif
+
+ r = 0;
+
+ return r;
+}
+
+/**
+ * Writes an ADB command with a string as payload.
+ *
+ * @param device USB device handle.
+ * @param command ADB command.
+ * @param arg0 first ADB argument (command dependent).
+ * @param arg0 second ADB argument (command dependent).
+ * @param str payload string.
+ * @return error code or 0 for success.
+ */
+int ADB::writeStringMessage(int device, uint32_t command, uint32_t arg0, uint32_t arg1, char * str)
+{
+ return ADB::writeMessage(device, command, arg0, arg1, strlen(str) + 1, (uint8_t*)str);
+}
+
+/**
+ * Poll an ADB message.
+ * @param message on success, the ADB message will be returned in this struct.
+ * @param poll true to poll for a packet on the input endpoint, false to wait for a packet. Use false here when a packet is expected (i.e. OKAY in response to WRTE)
+ * @return true iff a packet was successfully received, false otherwise.
+ */
+boolean ADB::pollMessage(adb_message * message, boolean poll)
+{
+ int bytesRead = 0;
+ uint8_t buf[ADB_USB_PACKETSIZE];
+
+ // Poll a packet from the USB
+ bytesRead = recv_packet_buf.GetPacket((char*)buf);
+
+ // Check if the USB in transfer was successful.
+ if (bytesRead<=0) return false;
+
+ log("[pollMessage] byteRead size:%d\r\n",bytesRead);
+
+ // Check if the buffer contains a valid message
+ memcpy((void*)message, (void*)buf, sizeof(adb_message));
+
+ // If the message is corrupt, return.
+#if 1
+ if (message->magic != (message->command ^ 0xffffffff))
+ {
+#ifdef DEBUG
+ printf("Broken message, magic mismatch, %d bytes\r\n", bytesRead);
+ return false;
+#endif
+ }
+#endif
+ // Check if the received number of bytes matches our expected 24 bytes of ADB message header.
+ if (bytesRead != sizeof(adb_message)) return false;
+
+ return true;
+}
+
+/**
+ * Sends an ADB OPEN message for any connections that are currently in the CLOSED state.
+ */
+void ADB::openClosedConnections()
+{
+ uint32_t timeSinceLastConnect;
+ Connection * connection;
+
+ // Iterate over the connection list and send "OPEN" for the ones that are currently closed.
+ for (connection = firstConnection; connection!=NULL; connection = connection->next)
+ {
+ timeSinceLastConnect = millis() - connection->lastConnectionAttempt;
+ if (connection->status==ADB_CLOSED && timeSinceLastConnect>ADB_CONNECTION_RETRY_TIME)
+ {
+ // Issue open command.
+ ADB::writeStringMessage(_device, A_OPEN, connection->localID, 0, connection->connectionString);
+
+ // Record the last attempt time
+ connection->lastConnectionAttempt = millis();
+ connection->status = ADB_OPENING;
+
+ }
+ }
+
+}
+
+/**
+ * Handles and ADB OKAY message, which represents a transition in the connection state machine.
+ *
+ * @param connection ADB connection
+ * @param message ADB message struct.
+ */
+void ADB::handleOkay(Connection * connection, adb_message * message)
+{
+ // Check if the OKAY message was a response to a CONNECT message.
+ if (connection->status==ADB_OPENING)
+ {
+ connection->status = ADB_OPEN;
+ connection->remoteID = message->arg0;
+
+ ADB::fireEvent(connection, ADB_CONNECTION_OPEN, 0, NULL);
+ }
+
+ // Check if the OKAY message was a response to a WRITE message.
+ if (connection->status == ADB_WRITING)
+ connection->status = ADB_OPEN;
+
+}
+
+/**
+ * Handles an ADB CLOSE message, and fires an ADB event accordingly.
+ *
+ * @param connection ADB connection
+ */
+void ADB::handleClose(Connection * connection)
+{
+ // Check if the CLOSE message was a response to a CONNECT message.
+ if (connection->status==ADB_OPENING)
+ ADB::fireEvent(connection, ADB_CONNECTION_FAILED, 0, NULL);
+ else
+ ADB::fireEvent(connection, ADB_CONNECTION_CLOSE, 0, NULL);
+
+ // Connection failed
+ if (connection->reconnect)
+ connection->status = ADB_CLOSED;
+ else
+ connection->status = ADB_UNUSED;
+
+}
+
+/**
+ * Handles an ADB WRITE message.
+ *
+ * @param connection ADB connection
+ * @param message ADB message struct.
+ */
+void ADB::handleWrite(Connection * connection, adb_message * message)
+{
+ uint32_t bytesLeft = message->data_length;
+ uint8_t buf[ADB_USB_PACKETSIZE];
+ ConnectionStatus previousStatus;
+ int bytesRead;
+
+ previousStatus = connection->status;
+
+ connection->status = ADB_RECEIVING;
+ connection->dataRead = 0;
+ connection->dataSize = message->data_length;
+
+ while (bytesLeft>0)
+ {
+ int len = bytesLeft < ADB_USB_PACKETSIZE ? bytesLeft : ADB_USB_PACKETSIZE;
+
+ // Read payload
+ bytesRead = recv_packet_buf.GetPacket((char*)buf);
+
+
+ // Poll the USB layer.
+ USBLoop();
+
+ log("[handleWrite] byteRead size:%d\r\n",bytesRead);
+
+// if (len != bytesRead)
+// printf("bytes read mismatch: %d expected, %d read, %ld left\r\n", len, bytesRead, bytesLeft);
+
+ // Break out of the read loop if there's no data to read :(
+ if (bytesRead==-1) break;
+ else if(bytesRead!=0)
+ {
+ connection->dataRead += len;
+ ADB::fireEvent(connection, ADB_CONNECTION_RECEIVE, len, buf);
+
+ bytesLeft -= bytesRead;
+ }
+ }
+
+ // Send OKAY message in reply.
+ bytesRead = ADB::writeEmptyMessage(_device, A_OKAY, message->arg1, message->arg0);
+
+ connection->status = previousStatus;
+
+}
+
+/**
+ * Close all ADB connections.
+ *
+ * @param connection ADB connection
+ * @param message ADB message struct.
+ */
+void ADB::closeAll()
+{
+ Connection * connection;
+
+ // Iterate over all connections and close the ones that are currently open.
+ for (connection = firstConnection; connection != NULL; connection = connection->next)
+ if (!(connection->status==ADB_UNUSED || connection->status==ADB_CLOSED))
+ ADB::handleClose(connection);
+
+}
+
+/**
+ * Handles an ADB connect message. This is a response to a connect message sent from our side.
+ * @param message ADB message.
+ */
+void ADB::handleConnect(adb_message * message)
+{
+ unsigned int bytesRead;
+ uint8_t buf[MAX_BUF_SIZE];
+ uint16_t len;
+
+ // Read payload (remote ADB device ID)
+ len = message->data_length < MAX_BUF_SIZE ? message->data_length : MAX_BUF_SIZE;
+ bytesRead = recv_packet_buf.GetPacket((char*)buf);
+
+ log("[handleConnect] byteRead size:%d\r\n",bytesRead);
+
+ // Signal that we are now connected to an Android device (yay!)
+ connected = true;
+
+ // Fire event.
+ ADB::fireEvent(NULL, ADB_CONNECT, len, buf);
+
+}
+
+/**
+ * This method is called periodically to check for new messages on the USB bus and process them.
+ */
+void ADB::poll()
+{
+ Connection * connection;
+ adb_message message;
+
+ // Poll the USB layer.
+ USBLoop();
+
+ // If no USB device, there's no work for us to be done, so just return.
+ if (_device==0) return;
+
+ // If not connected, send a connection string to the device.
+ if (!connected)
+ {
+ ADB::writeStringMessage(_device, A_CNXN, 0x01000000, 4096, (char*)"host::microbridge");
+ for(int ii=0;ii<400;ii++)
+ {
+ USBLoop();
+ wait_ms(1);
+ }
+ //wait_ms(500); // Give the device some time to respond.
+ }
+
+ // If we are connected, check if there are connections that need to be opened
+ if (connected)
+ ADB::openClosedConnections();
+
+ // Check for an incoming ADB message.
+ if (!ADB::pollMessage(&message, true))
+ return;
+
+ // Handle a response from the ADB device to our CONNECT message.
+ if (message.command == A_CNXN)
+ ADB::handleConnect(&message);
+
+ // Handle messages for specific connections
+ for (connection = firstConnection; connection != NULL; connection = connection->next)
+ {
+ if(connection->status!=ADB_UNUSED && connection->localID==message.arg1)
+ {
+ switch(message.command)
+ {
+ case A_OKAY:
+ //printf("HANDLE OKEY\r\n");
+ ADB::handleOkay(connection, &message);
+ break;
+ case A_CLSE:
+ printf("HANDLE CLOSE\r\n");
+ ADB::handleClose(connection);
+ break;
+ case A_WRTE:
+ //printf("HANDLE WRITE\r\n");
+ ADB::handleWrite(connection, &message);
+ break;
+ default:
+ break;
+ }
+ }
+ }
+
+}
+
+void ADB::AdbreadCallback(int device, int endpoint, int status, u8* buf, int len, void* userData) {
+
+ recv_packet_buf.PutPacket((char*)buf,len);
+
+#ifdef DEBUG
+ log("[AdbreadCallback] size:%d\r\n",len);
+
+ int ii,jj;
+ for(ii = 0 ; ii < len ; ii+=16)
+ {
+ for(jj = 0 ; jj < 16 ; jj+=2 )
+ {
+ log("%02X%02X ",buf[ii+jj],buf[ii+jj+1]);
+ if((ii+jj) > len) break;
+ }
+ log(" : ");
+ for(jj = 0 ; jj < 16 ; jj+=2 )
+ {
+ log("%c%c",buf[ii+jj],buf[ii+jj+1]);
+ if((ii+jj) > len) break;
+ }
+ log("\r\n");
+ if((ii+jj) > len) break;
+ }
+#endif
+ USBBulkTransfer(device, endpoint ,readbuff,sizeof(readbuff), AdbreadCallback, userData);
+ // wait_ms(4);
+}
+
+/**
+ * Checks whether the a connected USB device is an ADB device and populates a configuration record if it is.
+ *
+ * @param device USB device.
+ * @param handle pointer to a configuration record. The endpoint device address, configuration, and endpoint information will be stored here.
+ * @return true iff the device is an ADB device.
+ */
+boolean ADB::isAdbDevice(int device, int configuration, int interfaceNumber)
+{
+ boolean ret = false;
+
+ log("connecting Android \r\n");
+
+ _device = device;
+ _configuration = configuration;
+ _interfaceNumber = interfaceNumber;
+
+ log("device = %d configuration = %d interfaceNumber = %d\r\n", device, configuration, interfaceNumber);
+
+ int err;
+
+ u8 buffer[255];
+ err = GetDescriptor(_device,DESCRIPTOR_TYPE_CONFIGURATION,0,buffer,4);
+
+ if (err < 0) {
+ log("Failed to get descriptor\r\n");
+ return(ret);
+ }
+
+ int len = buffer[2] | (buffer[3] << 8);
+ if (len > sizeof(buffer)) {
+ log("config descriptor too large\r\n");
+ /* might want to truncate here */
+ return(ret);
+ }
+ err = GetDescriptor(_device,DESCRIPTOR_TYPE_CONFIGURATION,0,buffer,len);
+ u8* p = buffer;
+ input_ep=0;
+ output_ep=0;
+ EndpointDescriptor *epDesc;
+
+ log("Descriptor size:%d\r\n",len);
+ int ii,jj;
+ for(ii = 0 ; ii < len ; ii+=16)
+ {
+ for(jj = 0 ; jj < 16 ; jj+=2 )
+ {
+ log("%02X%02X ",buffer[ii+jj],buffer[ii+jj+1]);
+ if((ii+jj) > len) break;
+ }
+ log("\r\n");
+ if((ii+jj) > len) break;
+ }
+ u8 interface_num = 0;
+
+ while (p<(buffer+len)) {
+ u8 descLen = p[0];
+ u8 descType = p[1];
+ log("descLen=%d,descType=%d\r\n",descLen,descType);
+ switch (descType) {
+ case DESCRIPTOR_TYPE_CONFIGURATION:
+ log("config desc\r\n");
+ break;
+ case DESCRIPTOR_TYPE_INTERFACE:
+ interface_num = p[2];
+ log("interface desc num[%d]\r\n",interface_num);
+ break;
+ case DESCRIPTOR_TYPE_ENDPOINT:
+ epDesc=(EndpointDescriptor*)p;
+ if( interface_num == 1 )
+ {
+ if (!input_ep && (epDesc->bEndpointAddress& 0x80)) {
+ input_ep=epDesc->bEndpointAddress& 0x7f;
+ //PacketSize drop
+ log("input Endpoint address=%d,wMaxPacketSize=%d,bmAttributes=%d\r\n",input_ep,epDesc->wMaxPacketSize,epDesc->bmAttributes);
+
+ } else if (!output_ep) {
+ output_ep=epDesc->bEndpointAddress& 0x7f;
+ //PacketSize drop
+ log("output Endpoint address=%d,wMaxPacketSize=%d,bmAttributes=%d\r\n",output_ep,epDesc->wMaxPacketSize,epDesc->bmAttributes);
+ } else {
+ //other
+ log("non input,output Endpoint address=%d,wMaxPacketSize=%d,bmAttributes=%d\r\n",input_ep,epDesc->wMaxPacketSize,epDesc->bmAttributes);
+ }
+ }
+ break;
+ default:
+ log("unkown desc type(%d) \r\n",descType);
+ }
+ p+=descLen;
+ }
+
+ if (!(input_ep && output_ep)) {
+ log("can't find accessory endpoints\r\n");
+ return(false);
+ }
+
+ log("SetConfiguration\r\n");
+ err = SetConfiguration(device,configuration);
+ if (err < 0) {
+ log("SetConfiguration error\r\n");
+ return(false);
+ }
+
+ log("interrupt setup\r\n");
+ //interrupt setup
+ if (IO_PENDING!=USBBulkTransfer(_device,input_ep|0x80,readbuff,sizeof(readbuff),AdbreadCallback,NULL)) return(ret);
+
+ log("ADB Standby\r\n");
+ ret = true;
+
+ return(ret);
+}
+
+
+void desconnect(void)
+{
+ ADB::closeAll();
+ _device = 0;
+ connected = false;
+}
+
+/**
+ * Write a set of bytes to an open ADB connection.
+ *
+ * @param connection ADB connection to write the data to.
+ * @param length number of bytes to transmit.
+ * @param data data to send.
+ * @return number of transmitted bytes, or -1 on failure.
+ */
+int ADB::write(Connection * connection, uint16_t length, uint8_t * data)
+{
+ int ret;
+
+ // First check if we have a working ADB connection
+ if (_device==0 || !connected) return -1;
+
+ // Check if the connection is open for writing.
+ if (connection->status != ADB_OPEN) return -2;
+
+ // Write payload
+ ret = ADB::writeMessage(_device, A_WRTE, connection->localID, connection->remoteID, length, data);
+ if (ret==0)
+ connection->status = ADB_WRITING;
+
+ return ret;
+}
+
+/**
+ * Write a string to an open ADB connection. The trailing zero is not transmitted.
+ *
+ * @param connection ADB connection to write the data to.
+ * @param length number of bytes to transmit.
+ * @param data data to send.
+ * @return number of transmitted bytes, or -1 on failure.
+ */
+int ADB::writeString(Connection * connection, char * str)
+{
+ int ret;
+
+ // First check if we have a working ADB connection
+ if (_device==0 || !connected) return -1;
+
+ // Check if the connection is open for writing.
+ if (connection->status != ADB_OPEN) return -2;
+
+ // Write payload
+ ret = ADB::writeStringMessage(_device, A_WRTE, connection->localID, connection->remoteID, str);
+ if (ret==0)
+ connection->status = ADB_WRITING;
+
+ return ret;
+}
+
+/**
+ * Write a set of bytes to this ADB connection.
+ *
+ * @param length number of bytes to transmit.
+ * @param data data to send.
+ * @return number of transmitted bytes, or -1 on failure.
+ */
+int Connection::write(uint16_t length, uint8_t * data)
+{
+ return ADB::write(this, length, data);
+}
+
+/**
+ * Write a string to this connection.
+ *
+ * @param length number of bytes to transmit.
+ * @param data data to send.
+ * @return number of transmitted bytes, or -1 on failure.
+ */
+int Connection::writeString(char * str)
+{
+ return ADB::writeString(this, str);
+}
+
+/**
+ * Checks if the connection is open for writing.
+ * @return true iff the connection is open and ready to accept write commands.
+ */
+bool Connection::isOpen()
+{
+ return this->status == ADB_OPEN;
+}
+
+
+/** from USBHost load function. initialize Android device**/
+void OnLoadDevice(int device, DeviceDescriptor* deviceDesc, InterfaceDescriptor* interfaceDesc) {
+ char s[128];
+
+ log("LoadDevice %d %02X:%02X:%02X\r\n",device,interfaceDesc->bInterfaceClass,interfaceDesc->bInterfaceSubClass,interfaceDesc->bInterfaceProtocol);
+
+ for (int i = 1; i < 4; i++) {
+ if (GetString(device,i,s,sizeof(s)) < 0)
+ break;
+ printf("%d: %s\r\n",i,s);
+ }
+
+ // Adb?
+ if(1)
+ {
+ ADB::isAdbDevice(device,1,2);
+ }
+
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MicroBridge/ADB/Adb.h Fri May 03 08:35:29 2013 +0000
@@ -0,0 +1,152 @@
+/*
+ Copyright 2011 Niels Brouwers
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.#include <string.h>
+*/
+
+/* Changed by Junichi Katsu */
+
+#ifndef __adb_h__
+#define __adb_h__
+
+#include "mbed.h"
+#include "USBHost.h"
+#include "PacketBuffer.h"
+
+typedef bool boolean;
+typedef unsigned char uint8_t;
+typedef unsigned short uint16_t;
+typedef unsigned int uint32_t;
+
+
+#define MAX_PAYLOAD 4096;
+
+#define A_SYNC 0x434e5953
+#define A_CNXN 0x4e584e43
+#define A_OPEN 0x4e45504f
+#define A_OKAY 0x59414b4f
+#define A_CLSE 0x45534c43
+#define A_WRTE 0x45545257
+
+#define ADB_CLASS 0xff
+#define ADB_SUBCLASS 0x42
+#define ADB_PROTOCOL 0x1
+
+#define ADB_USB_PACKETSIZE 0x40
+#define ADB_CONNECTION_RETRY_TIME 1000
+
+typedef struct
+{
+ uint8_t address;
+ uint8_t configuration;
+ uint8_t interface;
+ uint8_t inputEndPointAddress;
+ uint8_t outputEndPointAddress;
+} adb_usbConfiguration;
+
+typedef struct
+{
+ // Command identifier constant
+ uint32_t command;
+
+ // First argument
+ uint32_t arg0;
+
+ // Second argument
+ uint32_t arg1;
+
+ // Payload length (0 is allowed)
+ uint32_t data_length;
+
+ // Checksum of data payload
+ uint32_t data_check;
+
+ // Command ^ 0xffffffff
+ uint32_t magic;
+
+} adb_message;
+
+typedef enum
+{
+ ADB_UNUSED = 0,
+ ADB_CLOSED,
+ ADB_OPEN,
+ ADB_OPENING,
+ ADB_RECEIVING,
+ ADB_WRITING
+} ConnectionStatus;
+
+typedef enum
+{
+ ADB_CONNECT = 0,
+ ADB_DISCONNECT,
+ ADB_CONNECTION_OPEN,
+ ADB_CONNECTION_CLOSE,
+ ADB_CONNECTION_FAILED,
+ ADB_CONNECTION_RECEIVE
+} adb_eventType;
+
+class Connection;
+
+// Event handler
+typedef void(adb_eventHandler)(Connection * connection, adb_eventType event, uint16_t length, uint8_t * data);
+
+class Connection
+{
+private:
+public:
+ char * connectionString;
+ uint32_t localID, remoteID;
+ uint32_t lastConnectionAttempt;
+ uint16_t dataSize, dataRead;
+ ConnectionStatus status;
+ boolean reconnect;
+ adb_eventHandler * eventHandler;
+ Connection * next;
+
+ int write(uint16_t length, uint8_t * data);
+ int writeString(char * str);
+ bool isOpen();
+};
+
+class ADB
+{
+
+private:
+ static void fireEvent(Connection * connection, adb_eventType type, uint16_t length, uint8_t * data);
+ static int writeEmptyMessage(int device, uint32_t command, uint32_t arg0, uint32_t arg1);
+ static int writeMessage(int device, uint32_t command, uint32_t arg0, uint32_t arg1, uint32_t length, uint8_t * data);
+ static int writeStringMessage(int device, uint32_t command, uint32_t arg0, uint32_t arg1, char * str);
+ static boolean pollMessage(adb_message * message, boolean poll);
+ static void openClosedConnections();
+ static void handleOkay(Connection * connection, adb_message * message);
+ static void handleClose(Connection * connection);
+ static void handleWrite(Connection * connection, adb_message * message);
+ static void handleConnect(adb_message * message);
+ static void AdbreadCallback(int device, int endpoint, int status, uint8_t* buf, int len, void* userData);
+
+public:
+ static void init();
+ static void poll();
+
+ static void setEventHandler(adb_eventHandler * handler);
+ virtual void setupDevice()=0;
+ static Connection * addConnection(const char * connectionString, boolean reconnect, adb_eventHandler * eventHandler);
+ static int write(Connection * connection, uint16_t length, uint8_t * data);
+ static int writeString(Connection * connection, char * str);
+
+ static boolean isAdbDevice(int device, int configuration, int interfaceNumber);
+ static void closeAll();
+};
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MicroBridge/PacketBuffer/PacketBuffer.cpp Fri May 03 08:35:29 2013 +0000
@@ -0,0 +1,84 @@
+
+/** @file PacketBuffer.cpp
+ * @brief Ring Buffer
+ */
+
+#include "PacketBuffer.h"
+
+
+PacketBuffer::PacketBuffer(int num,int packet_size)
+{
+ max_num = num;
+ max_size = packet_size;
+
+ p_buf = new PacketBufInf[num];
+
+ for(int i = 0 ; i < num ; i++)
+ {
+ p_buf[i].buf = new char[packet_size];
+ p_buf[i].size = 0;
+ }
+ addr_w = 0;
+ addr_r = 0;
+}
+
+PacketBuffer::~PacketBuffer()
+{
+
+ for(int i = 0 ; i < max_num ; i++)
+ {
+ delete [] p_buf[i].buf;
+ }
+ delete [] p_buf;
+}
+
+int PacketBuffer::PutPacket(char *packet, int len)
+{
+ int next;
+
+ if(max_size < len) return(-1);
+
+ next = (addr_w + 1) % max_num;
+
+ if( next == addr_r ) return(0);
+
+ memcpy( p_buf[addr_w].buf , packet , len );
+
+ p_buf[addr_w].size = len;
+
+ addr_w = next;
+
+ return(len);
+}
+
+int PacketBuffer::GetPacket(char *packet)
+{
+ int len;
+
+ if( addr_w == addr_r ) return(0);
+
+ len = p_buf[addr_r].size;
+
+ memcpy( packet , p_buf[addr_r].buf , len );
+
+ addr_r = (addr_r + 1) % max_num;
+
+ return len;
+}
+
+int PacketBuffer::available () {
+ if (addr_w < addr_r) {
+ return addr_r - addr_w - 1;
+ } else {
+ return (max_num - addr_w) + addr_r - 1;
+ }
+}
+
+int PacketBuffer::use () {
+ return max_num - available() - 1;
+}
+
+void PacketBuffer::clear () {
+ addr_w = 0;
+ addr_r = 0;
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MicroBridge/PacketBuffer/PacketBuffer.h Fri May 03 08:35:29 2013 +0000
@@ -0,0 +1,49 @@
+
+
+/** @file PacketBuffer.h
+ * @brief Packet Buffer
+ */
+
+#ifndef PacketBuffer_H
+#define PacketBuffer_H
+
+#include "mbed.h"
+
+typedef struct
+{
+ char *buf;
+ int size;
+} PacketBufInf;
+
+class PacketBuffer {
+public:
+ /** init Stack class
+ * @param num buffering packet num
+ * @param packet_size size of packet(max size)
+ */
+ PacketBuffer(int num,int packet_size);
+ ~PacketBuffer();
+
+ /** put to Packet buffer
+ * @param packet packet data
+ * @param len packet length
+ * @return put length
+ */
+ int PutPacket(char *packet, int len);
+
+ /** get from ring buffer
+ * @param packet packet data
+ * @return get length
+ */
+ int GetPacket(char *packet);
+
+ void clear();
+ int available();
+ int use();
+
+private:
+ PacketBufInf *p_buf;
+ int max_num,max_size;
+ int addr_w, addr_r;
+};
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MicroBridge/USBHost/USBHost.cpp Fri May 03 08:35:29 2013 +0000
@@ -0,0 +1,1097 @@
+
+/*
+Copyright (c) 2010 Peter Barrett
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+
+
+#include "mbed.h"
+#include "USBHost.h"
+#ifndef USBHOST_LOG
+
+#define DESC_INDEX 0
+
+// Config (default uses x bytes)
+#define MAX_DEVICES 8 // Max number of devices
+#define MAX_ENDPOINTS_TOTAL 16 // Max number of endpoints total
+#define MAX_ENDPOINTS_PER_DEVICE 8 // Max number of endpoints for any one device
+
+#define USBLOG 0
+#if USBLOG
+#define LOG(...) printf(__VA_ARGS__)
+#else
+#define LOG(...) do {} while(0)
+#endif
+
+// USB host structures
+
+#define USB_RAM_SIZE 16*1024 // AHB SRAM block 1 TODO MACHINE DEPENDENT
+#define USB_RAM_BASE 0x2007C000
+
+#define TOKEN_SETUP 0
+#define TOKEN_IN 1
+#define TOKEN_OUT 2
+
+// Status flags from hub
+#define PORT_CONNECTION 0
+#define PORT_ENABLE 1
+#define PORT_SUSPEND 2
+#define PORT_OVER_CURRENT 3
+#define PORT_RESET 4
+#define PORT_POWER 8
+#define PORT_LOW_SPEED 9
+
+#define C_PORT_CONNECTION 16
+#define C_PORT_ENABLE 17
+#define C_PORT_SUSPEND 18
+#define C_PORT_OVER_CURRENT 19
+#define C_PORT_RESET 20
+
+typedef struct {
+ u8 bm_request_type;
+ u8 b_request;
+ u16 w_value;
+ u16 w_index;
+ u16 w_length;
+} Setup;
+
+
+// Hub stuff is kept private just to keep api simple
+int SetPortFeature(int device, int feature, int index);
+int ClearPortFeature(int device, int feature, int index);
+int SetPortPower(int device, int port);
+int SetPortReset(int device, int port);
+int GetPortStatus(int device, int port, u32* status);
+
+//===================================================================
+//===================================================================
+// Hardware defines
+
+// HcControl
+#define PeriodicListEnable 0x00000004
+#define IsochronousEnable 0x00000008
+#define ControlListEnable 0x00000010
+#define BulkListEnable 0x00000020
+#define OperationalMask 0x00000080
+#define HostControllerFunctionalState 0x000000C0
+
+// HcCommandStatus
+#define HostControllerReset 0x00000001
+#define ControlListFilled 0x00000002
+#define BulkListFilled 0x00000004
+
+// HcInterruptStatus Register
+#define WritebackDoneHead 0x00000002
+#define StartofFrame 0x00000004
+#define ResumeDetected 0x00000008
+#define UnrecoverableError 0x00000010
+#define FrameNumberOverflow 0x00000020
+#define RootHubStatusChange 0x00000040
+#define OwnershipChange 0x00000080
+#define MasterInterruptEnable 0x80000000
+
+// HcRhStatus
+#define SetGlobalPower 0x00010000
+#define DeviceRemoteWakeupEnable 0x00008000
+
+// HcRhPortStatus (hub 0, port 1)
+#define CurrentConnectStatus 0x00000001
+#define PortEnableStatus 0x00000002
+#define PortSuspendStatus 0x00000004
+#define PortOverCurrentIndicator 0x00000008
+#define PortResetStatus 0x00000010
+
+#define PortPowerStatus 0x00000100
+#define LowspeedDevice 0x00000200
+#define HighspeedDevice 0x00000400
+
+#define ConnectStatusChange (CurrentConnectStatus << 16)
+#define PortResetStatusChange (PortResetStatus << 16)
+
+
+#define TD_ROUNDING (u32)0x00040000
+#define TD_SETUP (u32)0x00000000
+#define TD_IN (u32)0x00100000
+#define TD_OUT (u32)0x00080000
+#define TD_DELAY_INT(x) (u32)((x) << 21)
+#define TD_TOGGLE_0 (u32)0x02000000
+#define TD_TOGGLE_1 (u32)0x03000000
+#define TD_CC (u32)0xF0000000
+
+// HostController EndPoint Descriptor
+typedef struct {
+ volatile u32 Control;
+ volatile u32 TailTd;
+ volatile u32 HeadTd;
+ volatile u32 Next;
+} HCED;
+
+// HostController Transfer Descriptor
+typedef struct {
+ volatile u32 Control;
+ volatile u32 CurrBufPtr;
+ volatile u32 Next;
+ volatile u32 BufEnd;
+} HCTD;
+
+// Host Controller Communication Area
+typedef struct {
+ volatile u32 InterruptTable[32];
+ volatile u16 FrameNumber;
+ volatile u16 FrameNumberPad;
+ volatile u32 DoneHead;
+ volatile u8 Reserved[120];
+} HCCA;
+
+//====================================================================================
+//====================================================================================
+
+class HostController;
+class Endpoint;
+class Device;
+
+// must be 3*16 bytes long
+class Endpoint
+{
+public:
+ HCED EndpointDescriptor; // Pointer to EndpointDescriptor == Pointer to Endpoint
+ HCTD TDHead;
+
+ enum State
+ {
+ Free,
+ NotQueued,
+ Idle,
+ SetupQueued,
+ DataQueued,
+ StatusQueued,
+ CallbackPending
+ };
+
+ volatile u8 CurrentState;
+ u8 Flags; // 0x80 In, 0x03 mask endpoint type
+
+ u16 Length;
+ u8* Data;
+ USBCallback Callback; // Must be a multiple of 16 bytes long
+ void* UserData;
+
+ int Address()
+ {
+ int ep = (EndpointDescriptor.Control >> 7) & 0xF;
+ if (ep)
+ ep |= Flags & 0x80;
+ return ep;
+ }
+
+ int Device()
+ {
+ return EndpointDescriptor.Control & 0x7F;
+ }
+
+ int Status()
+ {
+ return (TDHead.Control >> 28) & 0xF;
+ }
+
+ u32 Enqueue(u32 head)
+ {
+ if (CurrentState == NotQueued)
+ {
+ EndpointDescriptor.Next = head;
+ head = (u32)&EndpointDescriptor;
+ CurrentState = Idle;
+ }
+ return head;
+ }
+};
+
+class Device
+{
+public:
+ u8 _endpointMap[MAX_ENDPOINTS_PER_DEVICE*2];
+ u8 Hub;
+ u8 Port;
+ u8 Addr;
+ u8 Pad;
+
+ // Only if this device is a hub
+ u8 HubPortCount; // nonzero if this is a hub
+ u8 HubInterruptData;
+ u8 HubMap;
+ u8 HubMask;
+
+ int Flags; // 1 = Disconnected
+
+ Setup SetupBuffer;
+
+ // Allocate endpoint zero
+ int Init(DeviceDescriptor* d, int hub, int port, int addr, int lowSpeed)
+ {
+ Hub = hub;
+ Port = port;
+ Addr = addr;
+ Flags = lowSpeed;
+ memset(_endpointMap,0xFF,sizeof(_endpointMap));
+ return 0;
+ }
+
+ int SetEndpointIndex(int ep, int endpointIndex)
+ {
+ for (int i = 0; i < MAX_ENDPOINTS_PER_DEVICE*2; i += 2)
+ {
+ if (_endpointMap[i] == 0xFF) // Add endpoint to map
+ {
+ _endpointMap[i] = ep;
+ _endpointMap[i+1] = endpointIndex;
+ return 0;
+ }
+ }
+ return ERR_ENDPOINT_NONE_LEFT;
+ }
+
+ int GetEndpointIndex(int ep)
+ {
+ for (int i = 0; i < MAX_ENDPOINTS_PER_DEVICE*2; i += 2)
+ {
+ if (_endpointMap[i] == ep)
+ return _endpointMap[i+1];
+ if (_endpointMap[i] == 0xFF)
+ break;
+ }
+ return -1;
+ }
+};
+
+class HostController
+{
+public:
+ HCCA CommunicationArea;
+ Endpoint Endpoints[MAX_ENDPOINTS_TOTAL]; // Multiple of 16
+
+ Endpoint EndpointZero; // For device enumeration
+ HCTD _commonTail;
+ Setup _setupZero;
+
+ Device Devices[MAX_DEVICES];
+ u32 _frameNumber; // 32 bit ms counter
+
+ u8 _callbacksPending; // Endpoints with callbacks are pending, set from ISR via ProcessDoneQueue
+ u8 _rootHubStatusChange; // Root hub status has changed, set from ISR
+ u8 _unused0;
+ u8 _unused1;
+
+ u8 _connectPending; // Reset has initiated a connect
+ u8 _connectCountdown; // Number of ms left after reset before we can connect
+ u8 _connectHub; // Will connect on this hub
+ u8 _connectPort; // ... and this port
+
+ u8 SRAM[0]; // Start of free SRAM
+
+ void Loop()
+ {
+ u16 elapsed = CommunicationArea.FrameNumber - (u16)_frameNumber; // extend to 32 bits
+ _frameNumber += elapsed;
+
+ // Do callbacks, if any
+ while (_callbacksPending)
+ {
+ for (int i = 0; i < MAX_ENDPOINTS_TOTAL; i++)
+ {
+ Endpoint* endpoint = Endpoints + i;
+ if (endpoint->CurrentState == Endpoint::CallbackPending)
+ {
+ LOG("Sorting Callbacks %i\r\n\r",endpoint->CurrentState);
+ _callbacksPending--;
+ endpoint->CurrentState = Endpoint::Idle;
+ LOG("SatusChanged %i\r\n\r",endpoint->CurrentState);
+ LOG("CallBack DataSize:%d",endpoint->Length);
+ endpoint->Callback(endpoint->Device(),endpoint->Address(),endpoint->Status(),endpoint->Data,endpoint->Length,endpoint->UserData);
+ }
+ }
+ }
+
+ // Deal with changes on the root hub
+ if (_rootHubStatusChange)
+ {
+ u32 status = LPC_USB->HcRhPortStatus1;
+ _rootHubStatusChange = 0;
+ if (status >> 16)
+ {
+ HubStatusChange(0,1,status);
+ LPC_USB->HcRhPortStatus1 = status & 0xFFFF0000; // clear status changes
+ }
+ }
+
+ // Connect after reset timeout
+ if (_connectCountdown)
+ {
+ if (elapsed >= _connectCountdown)
+ {
+ _connectCountdown = 0;
+ Connect(_connectHub,_connectPort & 0x7F,_connectPort & 0x80);
+ } else
+ _connectCountdown -= elapsed;
+ }
+ }
+
+ // HubInterrupt - bitmap in dev->HubInterruptData
+ void HubInterrupt(int device)
+ {
+ Device* dev = &Devices[device-1];
+ for (int i = 0; i < dev->HubPortCount; i++)
+ {
+ int port = i+1;
+ if (dev->HubInterruptData & (1 << port))
+ {
+ u32 status = 0;
+ GetPortStatus(device,port,&status);
+ if (status >> 16)
+ {
+ if (_connectPending && (status & ConnectStatusChange))
+ continue; // Don't connect again until previous device has been added and addressed
+
+ HubStatusChange(device,port,status);
+ if (status & ConnectStatusChange)
+ ClearPortFeature(device,C_PORT_CONNECTION,port);
+ if (status & PortResetStatusChange)
+ ClearPortFeature(device,C_PORT_RESET,port);
+ }
+ }
+ }
+ }
+
+ static void HubInterruptCallback(int device, int endpoint, int status, u8* data, int len, void* userData)
+ {
+ HostController* controller = (HostController*)userData;
+ if (status == 0)
+ controller->HubInterrupt(device);
+ USBInterruptTransfer(device,endpoint,data,1,HubInterruptCallback,userData);
+ }
+
+ int InitHub(int device)
+ {
+ u8 buf[16];
+ int r= USBControlTransfer(device,DEVICE_TO_HOST | REQUEST_TYPE_CLASS | RECIPIENT_DEVICE,GET_DESCRIPTOR,(DESCRIPTOR_TYPE_HUB << 8),0,buf,sizeof(buf));
+ if (r < 0)
+ return ERR_HUB_INIT_FAILED;
+
+ // turn on power on the hubs ports
+ Device* dev = &Devices[device-1];
+ int ports = buf[2];
+ dev->HubPortCount = ports;
+ for (int i = 0; i < ports; i++)
+ SetPortPower(device,i+1);
+
+ // Enable hub change interrupts
+ return USBInterruptTransfer(device,0x81,&dev->HubInterruptData,1,HubInterruptCallback,this);
+ }
+
+ int AddEndpoint(int device, int ep, int attributes, int maxPacketSize, int interval)
+ {
+ LOG("AddEndpoint D:%02X A:%02X T:%02X P:%04X I:%02X\r\r\n",device,ep,attributes,maxPacketSize,interval);
+ Device* dev = &Devices[device-1];
+ Endpoint* endpoint = AllocateEndpoint(device,ep,attributes,maxPacketSize);
+ if (!endpoint)
+ return ERR_ENDPOINT_NONE_LEFT;
+ dev->SetEndpointIndex(ep,endpoint - Endpoints);
+ endpoint->EndpointDescriptor.Control |= dev->Flags; // Map in slow speed
+ return 0; // TODO ed->bInterval
+ }
+
+ int AddEndpoint(int device, EndpointDescriptor* ed)
+ {
+ return AddEndpoint(device,ed->bEndpointAddress,ed->bmAttributes,ed->wMaxPacketSize,ed->bInterval);
+ }
+
+ // allocate a endpoint
+ Endpoint* AllocateEndpoint(int device, int endpointAddress, int type, int maxPacketSize)
+ {
+ for (int i = 0; i < MAX_ENDPOINTS_TOTAL; i++)
+ {
+ Endpoint* ep = &Endpoints[i];
+ if (ep->CurrentState == 0)
+ {
+ //LOG("Allocated endpoint %d to %02X:%02X\r\r\n",i,device,endpointAddress);
+ ep->Flags = (endpointAddress & 0x80) | (type & 3);
+ ep->CurrentState = Endpoint::NotQueued;
+ ep->EndpointDescriptor.Control = (maxPacketSize << 16) | ((endpointAddress & 0x7F) << 7) | device;
+ return ep;
+ }
+ }
+ return 0;
+ }
+
+ Endpoint* GetEndpoint(int device, int ep)
+ {
+ if (device == 0)
+ {
+ //printf("WARNING: USING DEVICE 0\r\n");
+ return &EndpointZero;
+ }
+ if (device > MAX_DEVICES)
+ return 0;
+ int i = Devices[device-1].GetEndpointIndex(ep);
+ if (i == -1)
+ return 0;
+ return Endpoints + i;
+ }
+
+ int Transfer(Endpoint* endpoint, int token, u8* data, int len, int state)
+ {
+ //LOG("Transfer %02X T:%d Len:%d S:%d\r\r\n",endpoint->Address(),token,len,state);
+
+ int toggle = 0;
+ if (endpoint->Address() == 0)
+ toggle = (token == TOKEN_SETUP) ? TD_TOGGLE_0 : TD_TOGGLE_1;
+
+ if (token != TOKEN_SETUP)
+ token = (token == TOKEN_IN ? TD_IN : TD_OUT);
+
+ HCTD* head = &endpoint->TDHead;
+ HCTD* tail = &_commonTail;
+
+ head->Control = TD_ROUNDING | token | TD_DELAY_INT(0) | toggle | TD_CC;
+ head->CurrBufPtr = (u32)data;
+ head->BufEnd = (u32)(data + len - 1);
+ head->Next = (u32)tail;
+
+ HCED* ed = &endpoint->EndpointDescriptor;
+ ed->HeadTd = (u32)head | (ed->HeadTd & 0x00000002); // carry toggle
+ ed->TailTd = (u32)tail;
+
+ //HCTD* td = head;
+ //LOG("%04X TD %08X %08X %08X Next:%08X\r\r\n",CommunicationArea.FrameNumber,td->Control,td->CurrBufPtr,td->BufEnd,td->Next);
+ //LOG("%04X ED %08X %08X %08X\r\r\n",CommunicationArea.FrameNumber,ed->Control,ed->HeadTd,ed->TailTd);
+
+ switch (endpoint->Flags & 3)
+ {
+ case ENDPOINT_CONTROL:
+ LPC_USB->HcControlHeadED = endpoint->Enqueue(LPC_USB->HcControlHeadED); // May change state NotQueued->Idle
+ endpoint->CurrentState = state; // Get in before an int
+ LPC_USB->HcCommandStatus = LPC_USB->HcCommandStatus | ControlListFilled;
+ LPC_USB->HcControl = LPC_USB->HcControl | ControlListEnable;
+ break;
+
+ case ENDPOINT_BULK:
+ LPC_USB->HcBulkHeadED = endpoint->Enqueue(LPC_USB->HcBulkHeadED);
+ endpoint->CurrentState = state;
+ LPC_USB->HcCommandStatus = LPC_USB->HcCommandStatus | BulkListFilled;
+ LPC_USB->HcControl = LPC_USB->HcControl | BulkListEnable;
+ break;
+
+ case ENDPOINT_INTERRUPT:
+ CommunicationArea.InterruptTable[0] = endpoint->Enqueue(CommunicationArea.InterruptTable[0]);
+ endpoint->CurrentState = state;
+ LPC_USB->HcControl |= PeriodicListEnable;
+ break;
+ }
+ return 0;
+ }
+
+ // Remove an endpoint from an active queue
+ bool Remove(HCED* ed, volatile HCED** queue)
+ {
+ if (*queue == 0)
+ return false;
+ if (*queue == (volatile HCED*)ed)
+ {
+ *queue = (volatile HCED*)ed->Next; // At head of queue
+ return true;
+ }
+
+ volatile HCED* head = *queue;
+ while (head)
+ {
+ if (head->Next == (u32)ed)
+ {
+ head->Next = ed->Next;
+ return true;
+ }
+ head = (volatile HCED*)head->Next;
+ }
+ return false;
+ }
+
+ void Release(Endpoint* endpoint)
+ {
+ if (endpoint->CurrentState == Endpoint::NotQueued)
+ {
+ // Never event used it, nothing to do
+ }
+ else
+ {
+ HCED* ed = (HCED*)endpoint;
+ ed->Control |= 0x4000; // SKIP
+ switch (endpoint->Flags & 0x03)
+ {
+ case ENDPOINT_CONTROL:
+ Remove(ed,(volatile HCED**)&LPC_USB->HcControlHeadED);
+ break;
+ case ENDPOINT_BULK:
+ Remove(ed,(volatile HCED**)&LPC_USB->HcBulkHeadED);
+ break;
+ case ENDPOINT_INTERRUPT:
+ for (int i = 0; i < 32; i++)
+ Remove(ed,(volatile HCED**)&CommunicationArea.InterruptTable[i]);
+ break;
+ }
+
+ u16 fn = CommunicationArea.FrameNumber;
+ while (fn == CommunicationArea.FrameNumber)
+ ; // Wait for next frame
+
+ }
+
+ // In theory, the endpoint is now dead.
+ // TODO: Will Callbacks ever be pending? BUGBUG
+ memset(endpoint,0,sizeof(Endpoint));
+ }
+
+ // Pop the last TD from the list
+ HCTD* Reverse(HCTD* current)
+ {
+ HCTD *result = NULL,*temp;
+ while (current)
+ {
+ temp = (HCTD*)current->Next;
+ current->Next = (u32)result;
+ result = current;
+ current = temp;
+ }
+ return result;
+ }
+
+ // Called from interrupt...
+ // Control endpoints use a state machine to progress through the transfers
+ void ProcessDoneQueue(u32 tdList)
+ {
+ HCTD* list = Reverse((HCTD*)tdList);
+ while (list)
+ {
+ Endpoint* endpoint = (Endpoint*)(list-1);
+ list = (HCTD*)list->Next;
+ int ep = endpoint->Address();
+ bool in = endpoint->Flags & 0x80;
+ int status = (endpoint->TDHead.Control >> 28) & 0xF;
+
+ //LOG("ProcessDoneQueue %02X %08X\r\r\n",ep,endpoint->TDHead.Control);
+
+ if (status != 0)
+ {
+ LOG("ProcessDoneQueue status %02X %d\r\r\n",ep,status);
+ endpoint->CurrentState = Endpoint::Idle;
+ } else {
+ switch (endpoint->CurrentState)
+ {
+ case Endpoint::SetupQueued:
+ if (endpoint->Length == 0)
+ Transfer(endpoint,in ? TOKEN_OUT : TOKEN_IN,0,0,Endpoint::StatusQueued); // Skip Data Phase
+ else
+ Transfer(endpoint,in ? TOKEN_IN : TOKEN_OUT,endpoint->Data,endpoint->Length, Endpoint::DataQueued); // Setup is done, now Data
+ break;
+
+ case Endpoint::DataQueued:
+ if (endpoint->TDHead.CurrBufPtr)
+ endpoint->Length = endpoint->TDHead.CurrBufPtr - (u32)endpoint->Data;
+
+ if (ep == 0)
+ Transfer(endpoint,in ? TOKEN_OUT : TOKEN_IN,0,0,Endpoint::StatusQueued); // Data is done, now Status, Control only
+ else
+ endpoint->CurrentState = Endpoint::Idle;
+ break;
+
+ case Endpoint::StatusQueued: // Transaction is done
+ endpoint->CurrentState = Endpoint::Idle;
+ break;
+ }
+ }
+
+ // Complete, flag if we need a callback
+ if (endpoint->Callback && endpoint->CurrentState == Endpoint::Idle)
+ {
+ endpoint->CurrentState = Endpoint::CallbackPending;
+ _callbacksPending++;
+ }
+ }
+ }
+
+ // Hack to reset devices that don't want to connect
+ int AddDevice(int hub, int port, bool isLowSpeed)
+ {
+ int device = AddDeviceCore(hub,port,isLowSpeed);
+ if (device < 0)
+ {
+ LOG("========RETRY ADD DEVICE========\r\r\n"); // This will go for ever.. TODO power cycle root?
+ Disconnect(hub,port); // Could not read descriptor at assigned address, reset this port and try again
+ ResetPort(hub,port); // Cheap bluetooth dongles often need this on a hotplug
+ return -1;
+ }
+ return device;
+ }
+
+ int AddDeviceCore(int hub, int port, bool isLowSpeed)
+ {
+ int lowSpeed = isLowSpeed ? 0x2000 : 0;
+ DeviceDescriptor desc;
+ EndpointZero.EndpointDescriptor.Control = (8 << 16) | lowSpeed; // MaxPacketSize == 8
+ int r = GetDescriptor(0,DESCRIPTOR_TYPE_DEVICE,0,(u8*)&desc,8);
+ if (r < 0)
+ {
+ LOG("FAILED TO LOAD DESCRIPTOR FOR DEVICE 0\r\r\n");
+ return r;
+ }
+
+ EndpointZero.EndpointDescriptor.Control = (desc.bMaxPacketSize << 16) | lowSpeed; // Actual MaxPacketSize
+ r = GetDescriptor(0,DESCRIPTOR_TYPE_DEVICE,0,(u8*)&desc,sizeof(desc));
+ if (r < 0)
+ return r;
+
+ LOG("\r\nClass %02X found %04X:%04X\r\r\n",desc.bDeviceClass,desc.idVendor,desc.idProduct);
+
+ // Now assign the device an address, move off EndpointZero
+ int device = 0;
+ for (int i = 0; i < MAX_DEVICES; i++)
+ {
+ if (Devices[i].Port == 0)
+ {
+ device = i+1;
+ break;
+ }
+ }
+ if (!device)
+ return ERR_DEVICE_NONE_LEFT;
+
+ r = SetAddress(0,device);
+ if (r)
+ return r;
+ DelayMS(2);
+
+ // Now at a nonzero address, create control endpoint
+ Device* dev = &Devices[device-1];
+ dev->Init(&desc,hub,port,device,lowSpeed);
+ AddEndpoint(device,0,ENDPOINT_CONTROL,desc.bMaxPacketSize,0);
+ _connectPending = 0;
+
+ // Verify this all works
+ r = GetDescriptor(device,DESCRIPTOR_TYPE_DEVICE,0,(u8*)&desc,sizeof(desc));
+ if (r < 0)
+ return r;
+
+ // Set to interface 0 by default
+ // Calls LoadDevice if interface is found
+ //r = SetConfigurationAndInterface(device,1,0,&desc);
+ r = SetConfigurationAndInterface(device,1,1,&desc);
+ //r = SetConfigurationAndInterface(device,1,0,&desc);
+
+ if (desc.bDeviceClass == CLASS_HUB)
+ InitHub(device); // Handle hubs in this code
+
+ return device;
+ }
+
+ // Walk descriptors and create endpoints for a given device
+ // TODO configuration !=1, alternate settings etc.
+ int SetConfigurationAndInterface(int device, int configuration, int interfaceNumber, DeviceDescriptor* desc)
+ {
+ u8 buffer[255];
+ int err = GetDescriptor(device,DESCRIPTOR_TYPE_CONFIGURATION,DESC_INDEX,buffer,sizeof(buffer));
+ if (err < 0)
+ return err;
+
+ err = SetConfiguration(device,configuration);
+ if (err < 0)
+ return err;
+
+ // Add the endpoints for this interface
+ int len = buffer[2] | (buffer[3] << 8);
+ u8* d = buffer;
+ u8* end = d + len;
+ InterfaceDescriptor* found = 0;
+ while (d < end)
+ {
+ if (d[1] == DESCRIPTOR_TYPE_INTERFACE)
+ {
+ InterfaceDescriptor* id = (InterfaceDescriptor*)d;
+ if (id->bInterfaceNumber == interfaceNumber)
+ {
+ found = id;
+ d += d[0];
+ while (d < end && d[1] != DESCRIPTOR_TYPE_INTERFACE)
+ {
+ switch (d[1])
+ {
+ case DESCRIPTOR_TYPE_ENDPOINT:
+ AddEndpoint(device,(EndpointDescriptor*)d);
+ break;
+ default:
+ LOG("Skipping descriptor %02X (%d bytes)\r\r\n",d[1],d[0]);
+ }
+ d += d[0];
+ }
+ }
+ }
+ d += d[0];
+ }
+
+ if (!found)
+ return ERR_INTERFACE_NOT_FOUND;
+ OnLoadDevice(device,desc,found);
+ return 0;
+ }
+
+ void Init()
+ {
+ LOG("USB INIT (Controller is %d bytes)\r\r\n",sizeof(*this));
+ memset(this,0,sizeof(HostController));
+ EndpointZero.CurrentState = Endpoint::NotQueued;
+ HWInit(&CommunicationArea);
+ DelayMS(10);
+ }
+
+ void ResetPort(int hub, int port)
+ {
+ LOG("ResetPort Hub:%d Port:%d\r\r\n",hub,port);
+ _connectPending++; // Only reset/add 1 device at a time
+ if (hub == 0)
+ LPC_USB->HcRhPortStatus1 = PortResetStatus; // Reset Root Hub, port 1
+ else
+ SetPortReset(hub,port); // or reset other hub
+ }
+
+ void Disconnect(int hub, int port)
+ {
+ LOG("Disconnect Hub:%d Port:%d\r\r\n",hub,port); // Mark a device for destruction
+ for (int i = 0; i < MAX_DEVICES; i++)
+ {
+ Device* dev = Devices + i;
+ if (dev->Port == port && dev->Hub == hub)
+ {
+ // Disconnect everything that is attached to this device if it is a hub
+ for (int p = 0; p < dev->HubPortCount; p++)
+ Disconnect(i+1,p+1);
+
+ // Now release endpoints
+ for (int j = 1; j < MAX_ENDPOINTS_PER_DEVICE*2; j += 2)
+ {
+ u8 endpointIndex = dev->_endpointMap[j];
+ if (endpointIndex != 0xFF)
+ Release(Endpoints + endpointIndex);
+ }
+ dev->Port = 0; // Device is now free
+ dev->Flags = 0;
+ return;
+ }
+ }
+ }
+
+ // called after reset
+ void Connect(int hub, int port, bool lowspeed)
+ {
+ LOG("Connect Hub:%d Port:%d %s\r\r\n",hub,port,lowspeed ? "slow" : "full");
+ AddDevice(hub,port,lowspeed);
+ }
+
+ // Called from interrupt
+ void HubStatusChange(int hub, int port, u32 status)
+ {
+ LOG("HubStatusChange Hub:%d Port:%d %08X\r\r\n",hub,port,status);
+ if (status & ConnectStatusChange)
+ {
+ if (status & CurrentConnectStatus) // Connecting
+ ResetPort(hub,port); // Reset to initiate connect (state machine?)
+ else
+ Disconnect(hub,port);
+ }
+
+ if (status & PortResetStatusChange)
+ {
+ if (!(status & PortResetStatus))
+ {
+ _connectCountdown = 200; // Schedule a connection in 200ms
+ if (status & LowspeedDevice)
+ port |= 0x80;
+ _connectHub = hub;
+ _connectPort = port;
+ }
+ }
+ }
+
+ #define HOST_CLK_EN (1<<0)
+ #define PORTSEL_CLK_EN (1<<3)
+ #define AHB_CLK_EN (1<<4)
+ #define CLOCK_MASK (HOST_CLK_EN | PORTSEL_CLK_EN | AHB_CLK_EN)
+
+ #define FRAMEINTERVAL (12000-1) // 1ms
+ #define DEFAULT_FMINTERVAL ((((6 * (FRAMEINTERVAL - 210)) / 7) << 16) | FRAMEINTERVAL)
+
+ void DelayMS(int ms)
+ {
+ u16 f = ms + CommunicationArea.FrameNumber;
+ while (f != CommunicationArea.FrameNumber)
+ ;
+ }
+
+ static void HWInit(HCCA* cca)
+ {
+ NVIC_DisableIRQ(USB_IRQn);
+
+ // turn on power for USB
+ LPC_SC->PCONP |= (1UL<<31);
+ // Enable USB host clock, port selection and AHB clock
+ LPC_USB->USBClkCtrl |= CLOCK_MASK;
+ // Wait for clocks to become available
+ while ((LPC_USB->USBClkSt & CLOCK_MASK) != CLOCK_MASK)
+ ;
+
+ // We are a Host
+ LPC_USB->OTGStCtrl |= 1;
+ LPC_USB->USBClkCtrl &= ~PORTSEL_CLK_EN; // we don't need port selection clock until we do OTG
+
+ // configure USB pins
+ LPC_PINCON->PINSEL1 &= ~((3<<26)|(3<<28));
+ LPC_PINCON->PINSEL1 |= ((1<<26)|(1<<28)); // USB D+/D-
+
+ LPC_PINCON->PINSEL3 &= ~((3 << 6) | (3 << 22)); // USB_PPWR, USB_OVRCR
+ LPC_PINCON->PINSEL3 |= ((2 << 6) | (2 << 22));
+
+ LPC_PINCON->PINSEL4 &= ~(3 << 18); // USB_CONNECT
+ LPC_PINCON->PINSEL4 |= (1 << 18);
+
+ // Reset OHCI block
+ LPC_USB->HcControl = 0;
+ LPC_USB->HcControlHeadED = 0;
+ LPC_USB->HcBulkHeadED = 0;
+
+ LPC_USB->HcCommandStatus = HostControllerReset;
+ LPC_USB->HcFmInterval = DEFAULT_FMINTERVAL;
+ LPC_USB->HcPeriodicStart = FRAMEINTERVAL*90/100;
+
+ LPC_USB->HcControl = (LPC_USB->HcControl & (~HostControllerFunctionalState)) | OperationalMask;
+ LPC_USB->HcRhStatus = SetGlobalPower;
+
+ LPC_USB->HcHCCA = (u32)cca;
+ LPC_USB->HcInterruptStatus |= LPC_USB->HcInterruptStatus;
+ LPC_USB->HcInterruptEnable = MasterInterruptEnable | WritebackDoneHead | RootHubStatusChange | FrameNumberOverflow;
+
+ NVIC_SetPriority(USB_IRQn, 0);
+ NVIC_EnableIRQ(USB_IRQn);
+ while (cca->FrameNumber < 10)
+ ; // 10ms delay before diving in
+ }
+};
+
+//====================================================================================
+//====================================================================================
+// Host controller instance and Interrupt handler
+
+static HostController _controller __attribute__((at(USB_RAM_BASE)));
+
+extern "C" void USB_IRQHandler(void) __irq;
+void USB_IRQHandler (void) __irq
+{
+ u32 int_status = LPC_USB->HcInterruptStatus;
+
+ if(int_status & UnrecoverableError) //Error
+ {
+ LOG("USB_IRQHandler UnrecoverableError Please reset\r\r\n");
+ }
+
+
+ if (int_status & RootHubStatusChange) // Root hub status change
+ _controller._rootHubStatusChange++; // Just flag the controller, will be processed in USBLoop
+
+ u32 head = 0;
+ if (int_status & WritebackDoneHead)
+ {
+ head = _controller.CommunicationArea.DoneHead; // Writeback Done
+ _controller.CommunicationArea.DoneHead = 0;
+ }
+ LPC_USB->HcInterruptStatus = int_status;
+
+ if (head)
+ _controller.ProcessDoneQueue(head); // TODO - low bit can be set BUGBUG
+}
+
+//====================================================================================
+//====================================================================================
+// API Methods
+
+void USBInit()
+{
+ return _controller.Init();
+}
+
+void USBLoop()
+{
+
+ return _controller.Loop();
+
+}
+
+u8* USBGetBuffer(u32* len)
+{
+ *len = USB_RAM_SIZE - sizeof(HostController);
+ return _controller.SRAM;
+}
+
+static Setup* GetSetup(int device)
+{
+ if (device == 0)
+ return &_controller._setupZero;
+
+ if (device < 1 || device > MAX_DEVICES)
+ return 0;
+ return &_controller.Devices[device-1].SetupBuffer;
+}
+
+// Loop until IO on endpoint is complete
+static int WaitIODone(Endpoint* endpoint)
+{
+ LOG("Waiting\r\n\r");
+ if (endpoint->CurrentState == Endpoint::NotQueued)
+ return 0;
+ while (endpoint->CurrentState != Endpoint::Idle)
+ //LOG("Loopz");
+ USBLoop(); // May generate callbacks, mount or unmount devices etc
+ int status = endpoint->Status();
+ if (status == 0)
+ return endpoint->Length;
+ LOG("DATA SENT\r\n\r");
+ return -status;
+}
+
+int USBTransfer(int device, int ep, u8 flags, u8* data, int length, USBCallback callback, void* userData)
+{
+ Endpoint* endpoint = _controller.GetEndpoint(device,ep);
+ if (!endpoint)
+ return ERR_ENDPOINT_NOT_FOUND;
+
+ WaitIODone(endpoint);
+ LOG("before ep=%x,callback=%p\r\r\n",endpoint,endpoint->Callback);
+ endpoint->Flags = flags;
+ endpoint->Data = data;
+ endpoint->Length = length;
+ endpoint->Callback = callback;
+ endpoint->UserData = userData;
+ LOG("ep=%x,callback=%p\r\r\n",ep,callback);
+ if (ep == 0)
+ _controller.Transfer(endpoint,TOKEN_SETUP,(u8*)GetSetup(device),8,Endpoint::SetupQueued);
+ else
+ _controller.Transfer(endpoint,flags & 0x80 ? TOKEN_IN : TOKEN_OUT,data,length,Endpoint::DataQueued);
+ if (callback)
+ return IO_PENDING;
+ return WaitIODone(endpoint);
+}
+
+int USBControlTransfer(int device, int request_type, int request, int value, int index, u8* data, int length, USBCallback callback, void * userData)
+{
+ Setup* setup = GetSetup(device);
+ if (!setup)
+ return ERR_DEVICE_NOT_FOUND;
+
+ // Async control calls may overwrite setup buffer of previous call, so we need to wait before setting up next call
+ WaitIODone(_controller.GetEndpoint(device,0));
+
+ setup->bm_request_type = request_type;
+ setup->b_request = request;
+ setup->w_value = value;
+ setup->w_index = index;
+ setup->w_length = length;
+ return USBTransfer(device,0,request_type & DEVICE_TO_HOST,data,length,callback,userData);
+}
+
+int USBInterruptTransfer(int device, int ep, u8* data, int length, USBCallback callback, void* userData)
+{
+ return USBTransfer(device,ep,(ep & 0x80) | ENDPOINT_INTERRUPT,data,length,callback,userData);
+}
+
+int USBBulkTransfer(int device, int ep, u8* data, int length, USBCallback callback, void* userData)
+{
+ return USBTransfer(device,ep,(ep & 0x80) | ENDPOINT_BULK,data,length,callback,userData);
+}
+
+int GetDescriptor(int device, int descType,int descIndex, u8* data, int length)
+{
+ return USBControlTransfer(device,DEVICE_TO_HOST | RECIPIENT_DEVICE, GET_DESCRIPTOR,(descType << 8)|(descIndex), 0, data, length, 0);
+}
+
+int GetString(int device, int index, char* dst, int length)
+{
+ u8 buffer[255];
+ int le = GetDescriptor(device,DESCRIPTOR_TYPE_STRING,index,buffer,sizeof(buffer));
+ if (le < 0)
+ return le;
+ if (length < 1)
+ return -1;
+ length <<= 1;
+ if (le > length)
+ le = length;
+ for (int j = 2; j < le; j += 2)
+ *dst++ = buffer[j];
+ *dst = 0;
+ return (le>>1)-1;
+}
+
+int SetAddress(int device, int new_addr)
+{
+ return USBControlTransfer(device,HOST_TO_DEVICE | RECIPIENT_DEVICE, SET_ADDRESS, new_addr, 0, 0, 0, 0);
+}
+
+int SetConfiguration(int device, int configNum)
+{
+ return USBControlTransfer(device,HOST_TO_DEVICE | RECIPIENT_DEVICE, SET_CONFIGURATION, configNum, 0, 0, 0, 0);
+}
+
+int SetInterface(int device, int ifNum, int altNum)
+{
+ return USBControlTransfer(device,HOST_TO_DEVICE | RECIPIENT_INTERFACE, SET_INTERFACE, altNum, ifNum, 0, 0, 0);
+}
+
+// HUB stuff
+int SetPortFeature(int device, int feature, int index)
+{
+ return USBControlTransfer(device,HOST_TO_DEVICE | REQUEST_TYPE_CLASS | RECIPIENT_OTHER,SET_FEATURE,feature,index,0,0);
+}
+
+int ClearPortFeature(int device, int feature, int index)
+{
+ return USBControlTransfer(device,HOST_TO_DEVICE | REQUEST_TYPE_CLASS | RECIPIENT_OTHER,CLEAR_FEATURE,feature,index,0,0);
+}
+
+int SetPortPower(int device, int port)
+{
+ int r = SetPortFeature(device,PORT_POWER,port);
+ _controller.DelayMS(20); // 80ms to turn on a hubs power... DESCRIPTOR? todo
+ return r;
+}
+
+int SetPortReset(int device, int port)
+{
+ return SetPortFeature(device,PORT_RESET,port);
+}
+
+int GetPortStatus(int device, int port, u32* status)
+{
+ return USBControlTransfer(device,DEVICE_TO_HOST | REQUEST_TYPE_CLASS | RECIPIENT_OTHER,GET_STATUS,0,port,(u8*)status,4);
+}
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MicroBridge/USBHost/USBHost.h Fri May 03 08:35:29 2013 +0000
@@ -0,0 +1,221 @@
+
+/*
+Copyright (c) 2010 Peter Barrett
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+
+#ifndef USBHOST_H
+#define USBHOST_H
+
+//log mode on off
+//#define USBHOST_LOG
+#include "Adb.h"
+
+#ifndef u8
+typedef unsigned char u8;
+typedef unsigned short u16;
+typedef unsigned long u32;
+
+typedef char s8;
+typedef short s16;
+typedef char s32;
+#endif
+
+#define ENDPOINT_CONTROL 0
+#define ENDPOINT_ISOCRONOUS 1
+#define ENDPOINT_BULK 2
+#define ENDPOINT_INTERRUPT 3
+
+#define DESCRIPTOR_TYPE_DEVICE 1
+#define DESCRIPTOR_TYPE_CONFIGURATION 2
+#define DESCRIPTOR_TYPE_STRING 3
+#define DESCRIPTOR_TYPE_INTERFACE 4
+#define DESCRIPTOR_TYPE_ENDPOINT 5
+
+#define DESCRIPTOR_TYPE_HID 0x21
+#define DESCRIPTOR_TYPE_REPORT 0x22
+#define DESCRIPTOR_TYPE_PHYSICAL 0x23
+#define DESCRIPTOR_TYPE_HUB 0x29
+
+enum USB_CLASS_CODE
+{
+ CLASS_DEVICE,
+ CLASS_AUDIO,
+ CLASS_COMM_AND_CDC_CONTROL,
+ CLASS_HID,
+ CLASS_PHYSICAL = 0x05,
+ CLASS_STILL_IMAGING,
+ CLASS_PRINTER,
+ CLASS_MASS_STORAGE,
+ CLASS_HUB,
+ CLASS_CDC_DATA,
+ CLASS_SMART_CARD,
+ CLASS_CONTENT_SECURITY = 0x0D,
+ CLASS_VIDEO = 0x0E,
+ CLASS_DIAGNOSTIC_DEVICE = 0xDC,
+ CLASS_WIRELESS_CONTROLLER = 0xE0,
+ CLASS_MISCELLANEOUS = 0xEF,
+ CLASS_APP_SPECIFIC = 0xFE,
+ CLASS_VENDOR_SPECIFIC = 0xFF
+};
+
+#define DEVICE_TO_HOST 0x80
+#define HOST_TO_DEVICE 0x00
+#define REQUEST_TYPE_STANDARD 0x00
+#define REQUEST_TYPE_CLASS 0x20
+#define REQUEST_TYPE_VENDOR 0x40
+#define RECIPIENT_DEVICE 0x00
+#define RECIPIENT_INTERFACE 0x01
+#define RECIPIENT_ENDPOINT 0x02
+#define RECIPIENT_OTHER 0x03
+
+#define GET_STATUS 0
+#define CLEAR_FEATURE 1
+#define SET_FEATURE 3
+#define SET_ADDRESS 5
+#define GET_DESCRIPTOR 6
+#define SET_DESCRIPTOR 7
+#define GET_CONFIGURATION 8
+#define SET_CONFIGURATION 9
+#define GET_INTERFACE 10
+#define SET_INTERFACE 11
+#define SYNCH_FRAME 11
+
+/* HID Request Codes */
+#define HID_REQUEST_GET_REPORT 0x01
+#define HID_REQUEST_GET_IDLE 0x02
+#define HID_REQUEST_GET_PROTOCOL 0x03
+#define HID_REQUEST_SET_REPORT 0x09
+#define HID_REQUEST_SET_IDLE 0x0A
+#define HID_REQUEST_SET_PROTOCOL 0x0B
+
+/* HID Report Types */
+#define HID_REPORT_INPUT 0x01
+#define HID_REPORT_OUTPUT 0x02
+#define HID_REPORT_FEATURE 0x03
+
+
+// -5 is nak
+/*
+0010 ACK Handshake
+1010 NAK Handshake
+1110 STALL Handshake
+0110 NYET (No Response Yet)
+*/
+
+#define IO_PENDING -100
+#define ERR_ENDPOINT_NONE_LEFT -101
+#define ERR_ENDPOINT_NOT_FOUND -102
+#define ERR_DEVICE_NOT_FOUND -103
+#define ERR_DEVICE_NONE_LEFT -104
+#define ERR_HUB_INIT_FAILED -105
+#define ERR_INTERFACE_NOT_FOUND -106
+
+typedef struct
+{
+ u8 bLength;
+ u8 bDescriptorType;
+ u16 bcdUSB;
+ u8 bDeviceClass;
+ u8 bDeviceSubClass;
+ u8 bDeviceProtocol;
+ u8 bMaxPacketSize;
+ u16 idVendor;
+ u16 idProduct;
+ u16 bcdDevice; // version
+ u8 iManufacturer;
+ u8 iProduct;
+ u8 iSerialNumber;
+ u8 bNumConfigurations;
+} DeviceDescriptor; // 16 bytes
+
+typedef struct
+{
+ u8 bLength;
+ u8 bDescriptorType;
+ u16 wTotalLength;
+ u8 bNumInterfaces;
+ u8 bConfigurationValue; // Value to use as an argument to select this configuration
+ u8 iConfiguration; // Index of String Descriptor describing this configuration
+ u8 bmAttributes; // Bitmap D7 Reserved, set to 1. (USB 1.0 Bus Powered),D6 Self Powered,D5 Remote Wakeup,D4..0 = 0
+ u8 bMaxPower; // Maximum Power Consumption in 2mA units
+} ConfigurationDescriptor;
+
+typedef struct
+{
+ u8 bLength;
+ u8 bDescriptorType;
+ u8 bInterfaceNumber;
+ u8 bAlternateSetting;
+ u8 bNumEndpoints;
+ u8 bInterfaceClass;
+ u8 bInterfaceSubClass;
+ u8 bInterfaceProtocol;
+ u8 iInterface; // Index of String Descriptor Describing this interface
+} InterfaceDescriptor;
+
+typedef struct
+{
+ u8 bLength;
+ u8 bDescriptorType;
+ u8 bEndpointAddress; // Bits 0:3 endpoint, Bits 7 Direction 0 = Out, 1 = In (Ignored for Control Endpoints)
+ u8 bmAttributes; // Bits 0:1 00 = Control, 01 = Isochronous, 10 = Bulk, 11 = Interrupt
+ u16 wMaxPacketSize;
+ u8 bInterval; // Interval for polling endpoint data transfers.
+} EndpointDescriptor;
+
+typedef struct {
+ u8 bLength;
+ u8 bDescriptorType;
+ u16 bcdHID;
+ u8 bCountryCode;
+ u8 bNumDescriptors;
+ u8 bDescriptorType2;
+ u16 wDescriptorLength;
+} HIDDescriptor;
+
+//============================================================================
+//============================================================================
+
+
+void USBInit();
+void USBLoop();
+u8* USBGetBuffer(u32* len);
+
+// Optional callback for transfers, called at interrupt time
+typedef void (*USBCallback)(int device, int endpoint, int status, u8* data, int len, void* userData);
+
+// Transfers
+int USBControlTransfer(int device, int request_type, int request, int value, int index, u8* data, int length, USBCallback callback = 0, void* userData = 0);
+int USBInterruptTransfer(int device, int ep, u8* data, int length, USBCallback callback = 0, void* userData = 0);
+int USBBulkTransfer(int device, int ep, u8* data, int length, USBCallback callback = 0, void* userData = 0);
+
+// Standard Device methods
+int GetDescriptor(int device, int descType, int descIndex, u8* data, int length);
+int GetString(int device, int index, char* dst, int length);
+int SetAddress(int device, int new_addr);
+int SetConfiguration(int device, int configNum);
+int SetInterface(int device, int ifNum, int altNum);
+
+// Implemented to notify app of the arrival of a device
+void OnLoadDevice(int device, DeviceDescriptor* deviceDesc, InterfaceDescriptor* interfaceDesc);
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MicroBridge/USBHost/USBHost_log.cpp Fri May 03 08:35:29 2013 +0000
@@ -0,0 +1,1175 @@
+
+/*
+Copyright (c) 2010 Peter Barrett
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+
+#include "mbed.h"
+#include "USBHost.h"
+//#define USBHOST_LOG
+#ifdef USBHOST_LOG
+
+// Config (default uses x bytes)
+#define MAX_DEVICES 8 // Max number of devices
+#define MAX_ENDPOINTS_TOTAL 16 // Max number of endpoints total
+#define MAX_ENDPOINTS_PER_DEVICE 8 // Max number of endpoints for any one device
+
+#define USBLOG 1
+#if USBLOG
+#define LOG(...) printf(__VA_ARGS__)
+#else
+#define LOG(...) do {} while(0)
+#endif
+
+// USB host structures
+
+#define USB_RAM_SIZE 16*1024 // AHB SRAM block 1 TODO MACHINE DEPENDENT
+#define USB_RAM_BASE 0x2007C000
+
+#define TOKEN_SETUP 0
+#define TOKEN_IN 1
+#define TOKEN_OUT 2
+
+// Status flags from hub
+#define PORT_CONNECTION 0
+#define PORT_ENABLE 1
+#define PORT_SUSPEND 2
+#define PORT_OVER_CURRENT 3
+#define PORT_RESET 4
+#define PORT_POWER 8
+#define PORT_LOW_SPEED 9
+
+#define C_PORT_CONNECTION 16
+#define C_PORT_ENABLE 17
+#define C_PORT_SUSPEND 18
+#define C_PORT_OVER_CURRENT 19
+#define C_PORT_RESET 20
+
+typedef struct {
+ u8 bm_request_type;
+ u8 b_request;
+ u16 w_value;
+ u16 w_index;
+ u16 w_length;
+} Setup;
+
+
+// Hub stuff is kept private just to keep api simple
+int SetPortFeature(int device, int feature, int index);
+int ClearPortFeature(int device, int feature, int index);
+int SetPortPower(int device, int port);
+int SetPortReset(int device, int port);
+int GetPortStatus(int device, int port, u32* status);
+
+//===================================================================
+//===================================================================
+// Hardware defines
+
+// HcControl
+#define PeriodicListEnable 0x00000004
+#define IsochronousEnable 0x00000008
+#define ControlListEnable 0x00000010
+#define BulkListEnable 0x00000020
+#define OperationalMask 0x00000080
+#define HostControllerFunctionalState 0x000000C0
+
+// HcCommandStatus
+#define HostControllerReset 0x00000001
+#define ControlListFilled 0x00000002
+#define BulkListFilled 0x00000004
+
+// HcInterruptStatus Register
+#define WritebackDoneHead 0x00000002
+#define StartofFrame 0x00000004
+#define ResumeDetected 0x00000008
+#define UnrecoverableError 0x00000010
+#define FrameNumberOverflow 0x00000020
+#define RootHubStatusChange 0x00000040
+#define OwnershipChange 0x00000080
+#define MasterInterruptEnable 0x80000000
+
+// HcRhStatus
+#define SetGlobalPower 0x00010000
+#define DeviceRemoteWakeupEnable 0x00008000
+
+// HcRhPortStatus (hub 0, port 1)
+#define CurrentConnectStatus 0x00000001
+#define PortEnableStatus 0x00000002
+#define PortSuspendStatus 0x00000004
+#define PortOverCurrentIndicator 0x00000008
+#define PortResetStatus 0x00000010
+
+#define PortPowerStatus 0x00000100
+#define LowspeedDevice 0x00000200
+#define HighspeedDevice 0x00000400
+
+#define ConnectStatusChange (CurrentConnectStatus << 16)
+#define PortResetStatusChange (PortResetStatus << 16)
+
+
+#define TD_ROUNDING (u32)0x00040000
+#define TD_SETUP (u32)0x00000000
+#define TD_IN (u32)0x00100000
+#define TD_OUT (u32)0x00080000
+#define TD_DELAY_INT(x) (u32)((x) << 21)
+#define TD_TOGGLE_0 (u32)0x02000000
+#define TD_TOGGLE_1 (u32)0x03000000
+#define TD_CC (u32)0xF0000000
+
+// HostController EndPoint Descriptor
+typedef struct {
+ volatile u32 Control;
+ volatile u32 TailTd;
+ volatile u32 HeadTd;
+ volatile u32 Next;
+} HCED;
+
+// HostController Transfer Descriptor
+typedef struct {
+ volatile u32 Control;
+ volatile u32 CurrBufPtr;
+ volatile u32 Next;
+ volatile u32 BufEnd;
+} HCTD;
+
+// Host Controller Communication Area
+typedef struct {
+ volatile u32 InterruptTable[32];
+ volatile u16 FrameNumber;
+ volatile u16 FrameNumberPad;
+ volatile u32 DoneHead;
+ volatile u8 Reserved[120];
+} HCCA;
+
+//====================================================================================
+//====================================================================================
+
+class HostController;
+class Endpoint;
+class Device;
+
+// must be 3*16 bytes long
+class Endpoint
+{
+public:
+ HCED EndpointDescriptor; // Pointer to EndpointDescriptor == Pointer to Endpoint
+ HCTD TDHead;
+
+ enum State
+ {
+ Free,
+ NotQueued,
+ Idle,
+ SetupQueued,
+ DataQueued,
+ StatusQueued,
+ CallbackPending
+ };
+
+ volatile u8 CurrentState;
+ u8 Flags; // 0x80 In, 0x03 mask endpoint type
+
+ u16 Length;
+ u8* Data;
+ USBCallback Callback; // Must be a multiple of 16 bytes long
+ void* UserData;
+
+ int Address()
+ {
+ int ep = (EndpointDescriptor.Control >> 7) & 0xF;
+ if (ep)
+ ep |= Flags & 0x80;
+ return ep;
+ }
+
+ int Device()
+ {
+ return EndpointDescriptor.Control & 0x7F;
+ }
+
+ int Status()
+ {
+ return (TDHead.Control >> 28) & 0xF;
+ }
+
+ u32 Enqueue(u32 head)
+ {
+ if (CurrentState == NotQueued)
+ {
+ EndpointDescriptor.Next = head;
+ head = (u32)&EndpointDescriptor;
+ CurrentState = Idle;
+ }
+ return head;
+ }
+};
+
+class Device
+{
+public:
+ u8 _endpointMap[MAX_ENDPOINTS_PER_DEVICE*2];
+ u8 Hub;
+ u8 Port;
+ u8 Addr;
+ u8 Pad;
+
+ // Only if this device is a hub
+ u8 HubPortCount; // nonzero if this is a hub
+ u8 HubInterruptData;
+ u8 HubMap;
+ u8 HubMask;
+
+ int Flags; // 1 = Disconnected
+
+ Setup SetupBuffer;
+
+ // Allocate endpoint zero
+ int Init(DeviceDescriptor* d, int hub, int port, int addr, int lowSpeed)
+ {
+ Hub = hub;
+ Port = port;
+ Addr = addr;
+ Flags = lowSpeed;
+ memset(_endpointMap,0xFF,sizeof(_endpointMap));
+ return 0;
+ }
+
+ int SetEndpointIndex(int ep, int endpointIndex)
+ {
+ for (int i = 0; i < MAX_ENDPOINTS_PER_DEVICE*2; i += 2)
+ {
+ if (_endpointMap[i] == 0xFF) // Add endpoint to map
+ {
+ _endpointMap[i] = ep;
+ _endpointMap[i+1] = endpointIndex;
+ return 0;
+ }
+ }
+ return ERR_ENDPOINT_NONE_LEFT;
+ }
+
+ int GetEndpointIndex(int ep)
+ {
+ for (int i = 0; i < MAX_ENDPOINTS_PER_DEVICE*2; i += 2)
+ {
+ if (_endpointMap[i] == ep)
+ return _endpointMap[i+1];
+ if (_endpointMap[i] == 0xFF)
+ break;
+ }
+ return -1;
+ }
+};
+
+class HostController
+{
+public:
+ HCCA CommunicationArea;
+ Endpoint Endpoints[MAX_ENDPOINTS_TOTAL]; // Multiple of 16
+
+ Endpoint EndpointZero; // For device enumeration
+ HCTD _commonTail;
+ Setup _setupZero;
+
+ Device Devices[MAX_DEVICES];
+ u32 _frameNumber; // 32 bit ms counter
+
+ u8 _callbacksPending; // Endpoints with callbacks are pending, set from ISR via ProcessDoneQueue
+ u8 _rootHubStatusChange; // Root hub status has changed, set from ISR
+ u8 _unused0;
+ u8 _unused1;
+
+ u8 _connectPending; // Reset has initiated a connect
+ u8 _connectCountdown; // Number of ms left after reset before we can connect
+ u8 _connectHub; // Will connect on this hub
+ u8 _connectPort; // ... and this port
+
+ u8 SRAM[0]; // Start of free SRAM
+
+ void Loop()
+ {
+ // printf("Enter Loop \r\r\n");
+ u16 elapsed = CommunicationArea.FrameNumber - (u16)_frameNumber; // extend to 32 bits
+ _frameNumber += elapsed;
+
+ // Do callbacks, if any
+ while (_callbacksPending)
+ {
+ for (int i = 0; i < MAX_ENDPOINTS_TOTAL; i++)
+ {
+ Endpoint* endpoint = Endpoints + i;
+ if (endpoint->CurrentState == Endpoint::CallbackPending)
+ {
+ _callbacksPending--;
+ endpoint->CurrentState = Endpoint::Idle;
+ LOG("CurrentState Change Idle endpoint(%d) currentState =%d\r\r\n",endpoint->Address(),endpoint->CurrentState);
+ endpoint->Callback(endpoint->Device(),endpoint->Address(),endpoint->Status(),endpoint->Data,endpoint->Length,endpoint->UserData);
+ }
+ }
+ }
+
+ // Deal with changes on the root hub
+ if (_rootHubStatusChange)
+ {
+ u32 status = LPC_USB->HcRhPortStatus1;
+ _rootHubStatusChange = 0;
+ if (status >> 16)
+ {
+ HubStatusChange(0,1,status);
+ LPC_USB->HcRhPortStatus1 = status & 0xFFFF0000; // clear status changes
+ }
+ }
+
+ // Connect after reset timeout
+ if (_connectCountdown)
+ {
+ if (elapsed >= _connectCountdown)
+ {
+ _connectCountdown = 0;
+ Connect(_connectHub,_connectPort & 0x7F,_connectPort & 0x80);
+ } else
+ _connectCountdown -= elapsed;
+ }
+
+ // printf("Outer Loop \r\r\n");
+ }
+
+ // HubInterrupt - bitmap in dev->HubInterruptData
+ void HubInterrupt(int device)
+ {
+ Device* dev = &Devices[device-1];
+ for (int i = 0; i < dev->HubPortCount; i++)
+ {
+ int port = i+1;
+ if (dev->HubInterruptData & (1 << port))
+ {
+ u32 status = 0;
+ GetPortStatus(device,port,&status);
+ if (status >> 16)
+ {
+ if (_connectPending && (status & ConnectStatusChange))
+ continue; // Don't connect again until previous device has been added and addressed
+
+ HubStatusChange(device,port,status);
+ if (status & ConnectStatusChange)
+ ClearPortFeature(device,C_PORT_CONNECTION,port);
+ if (status & PortResetStatusChange)
+ ClearPortFeature(device,C_PORT_RESET,port);
+ }
+ }
+ }
+ }
+
+ static void HubInterruptCallback(int device, int endpoint, int status, u8* data, int len, void* userData)
+ {
+ HostController* controller = (HostController*)userData;
+ if (status == 0)
+ controller->HubInterrupt(device);
+ USBInterruptTransfer(device,endpoint,data,1,HubInterruptCallback,userData);
+ }
+
+ int InitHub(int device)
+ {
+ u8 buf[16];
+ int r= USBControlTransfer(device,DEVICE_TO_HOST | REQUEST_TYPE_CLASS | RECIPIENT_DEVICE,GET_DESCRIPTOR,(DESCRIPTOR_TYPE_HUB << 8),0,buf,sizeof(buf));
+ if (r < 0)
+ return ERR_HUB_INIT_FAILED;
+
+ // turn on power on the hubs ports
+ Device* dev = &Devices[device-1];
+ int ports = buf[2];
+ dev->HubPortCount = ports;
+ for (int i = 0; i < ports; i++)
+ SetPortPower(device,i+1);
+
+ // Enable hub change interrupts
+ return USBInterruptTransfer(device,0x81,&dev->HubInterruptData,1,HubInterruptCallback,this);
+ }
+
+ int AddEndpoint(int device, int ep, int attributes, int maxPacketSize, int interval)
+ {
+ LOG("AddEndpoint D:%02X A:%02X T:%02X P:%04X I:%02X\r\r\n",device,ep,attributes,maxPacketSize,interval);
+ Device* dev = &Devices[device-1];
+ Endpoint* endpoint = AllocateEndpoint(device,ep,attributes,maxPacketSize);
+ if (!endpoint)
+ return ERR_ENDPOINT_NONE_LEFT;
+ dev->SetEndpointIndex(ep,endpoint - Endpoints);
+ endpoint->EndpointDescriptor.Control |= dev->Flags; // Map in slow speed
+ return 0; // TODO ed->bInterval
+ }
+
+ int AddEndpoint(int device, EndpointDescriptor* ed)
+ {
+ return AddEndpoint(device,ed->bEndpointAddress,ed->bmAttributes,ed->wMaxPacketSize,ed->bInterval);
+ }
+
+ // allocate a endpoint
+ Endpoint* AllocateEndpoint(int device, int endpointAddress, int type, int maxPacketSize)
+ {
+ for (int i = 0; i < MAX_ENDPOINTS_TOTAL; i++)
+ {
+ Endpoint* ep = &Endpoints[i];
+ if (ep->CurrentState == 0)
+ {
+ //LOG("Allocated endpoint %d to %02X:%02X\r\r\n",i,device,endpointAddress);
+ ep->Flags = (endpointAddress & 0x80) | (type & 3);
+ ep->CurrentState = Endpoint::NotQueued;
+ ep->EndpointDescriptor.Control = (maxPacketSize << 16) | ((endpointAddress & 0x7F) << 7) | device;
+ return ep;
+ }
+ }
+ return 0;
+ }
+
+ Endpoint* GetEndpoint(int device, int ep)
+ {
+ if (device == 0)
+ {
+ //printf("WARNING: USING DEVICE 0\r\n");
+ return &EndpointZero;
+ }
+ if (device > MAX_DEVICES)
+ return 0;
+ int i = Devices[device-1].GetEndpointIndex(ep);
+ if (i == -1)
+ return 0;
+ return Endpoints + i;
+ }
+
+ int Transfer(Endpoint* endpoint, int token, u8* data, int len, int state)
+ {
+ //Makoto edit comment out
+ // LOG("Transfer start\r\r\n");
+ LOG("Transfer ep=%02X Token:%d Len:%d State:%d\r\r\n",endpoint->Address(),token,len,state);
+
+ int toggle = 0;
+ if (endpoint->Address() == 0)
+ toggle = (token == TOKEN_SETUP) ? TD_TOGGLE_0 : TD_TOGGLE_1;
+
+ if (token != TOKEN_SETUP)
+ token = (token == TOKEN_IN ? TD_IN : TD_OUT);
+
+ HCTD* head = &endpoint->TDHead;
+ HCTD* tail = &_commonTail;
+
+ head->Control = TD_ROUNDING | token | TD_DELAY_INT(0) | toggle | TD_CC;
+ head->CurrBufPtr = (u32)data;
+ head->BufEnd = (u32)(data + len - 1);
+ head->Next = (u32)tail;
+
+ HCED* ed = &endpoint->EndpointDescriptor;
+ ed->HeadTd = (u32)head | (ed->HeadTd & 0x00000002); // carry toggle
+ ed->TailTd = (u32)tail;
+
+ //HCTD* td = head;
+ //LOG("%04X TD %08X %08X %08X Next:%08X\r\r\n",CommunicationArea.FrameNumber,td->Control,td->CurrBufPtr,td->BufEnd,td->Next);
+ //LOG("%04X ED %08X %08X %08X\r\r\n",CommunicationArea.FrameNumber,ed->Control,ed->HeadTd,ed->TailTd);
+
+ //LOG("Transfer run01\r\r\n");
+ switch (endpoint->Flags & 3)
+ {
+ case ENDPOINT_CONTROL:
+ LOG("Transfer run ENDPOINT_CONTROL\r\r\n");
+ LPC_USB->HcControlHeadED = endpoint->Enqueue(LPC_USB->HcControlHeadED); // May change state NotQueued->Idle
+ //LOG("Transfer run02\r\r\n");
+ LOG("endpoint->CurrentState change %d->%d\r\r\n",endpoint->CurrentState,state);
+ endpoint->CurrentState = state; // Get in before an int
+ LPC_USB->HcCommandStatus = LPC_USB->HcCommandStatus | ControlListFilled;
+ LPC_USB->HcControl = LPC_USB->HcControl | ControlListEnable;
+
+ break;
+
+ case ENDPOINT_BULK:
+ LOG("Transfer run ENDPOINT_BULK\r\r\n");
+ LPC_USB->HcBulkHeadED = endpoint->Enqueue(LPC_USB->HcBulkHeadED);
+ LOG("endpoint->CurrentState change %d->%d\r\r\n",endpoint->CurrentState,state);
+ endpoint->CurrentState = state;
+ LPC_USB->HcCommandStatus = LPC_USB->HcCommandStatus | BulkListFilled;
+ LPC_USB->HcControl = LPC_USB->HcControl | BulkListEnable;
+ break;
+
+ case ENDPOINT_INTERRUPT:
+ LOG("Transfer run ENDPOINT_INTERRUPT\r\r\n");
+ CommunicationArea.InterruptTable[0] = endpoint->Enqueue(CommunicationArea.InterruptTable[0]);
+ LOG("endpoint->CurrentState change %d->%d\r\r\n",endpoint->CurrentState,state);
+ endpoint->CurrentState = state;
+ LPC_USB->HcControl |= PeriodicListEnable;
+ break;
+ }
+
+ LOG("Transfer end\r\r\n");
+ return 0;
+ }
+
+ // Remove an endpoint from an active queue
+ bool Remove(HCED* ed, volatile HCED** queue)
+ {
+ if (*queue == 0)
+ return false;
+ if (*queue == (volatile HCED*)ed)
+ {
+ *queue = (volatile HCED*)ed->Next; // At head of queue
+ return true;
+ }
+
+ volatile HCED* head = *queue;
+ while (head)
+ {
+ if (head->Next == (u32)ed)
+ {
+ head->Next = ed->Next;
+ return true;
+ }
+ head = (volatile HCED*)head->Next;
+ }
+ return false;
+ }
+
+ void Release(Endpoint* endpoint)
+ {
+ if (endpoint->CurrentState == Endpoint::NotQueued)
+ {
+ // Never event used it, nothing to do
+ }
+ else
+ {
+ HCED* ed = (HCED*)endpoint;
+ ed->Control |= 0x4000; // SKIP
+ switch (endpoint->Flags & 0x03)
+ {
+ case ENDPOINT_CONTROL:
+ Remove(ed,(volatile HCED**)&LPC_USB->HcControlHeadED);
+ break;
+ case ENDPOINT_BULK:
+ Remove(ed,(volatile HCED**)&LPC_USB->HcBulkHeadED);
+ break;
+ case ENDPOINT_INTERRUPT:
+ for (int i = 0; i < 32; i++)
+ Remove(ed,(volatile HCED**)&CommunicationArea.InterruptTable[i]);
+ break;
+ }
+
+ u16 fn = CommunicationArea.FrameNumber;
+ while (fn == CommunicationArea.FrameNumber)
+ ; // Wait for next frame
+
+ }
+
+ // In theory, the endpoint is now dead.
+ // TODO: Will Callbacks ever be pending? BUGBUG
+ memset(endpoint,0,sizeof(Endpoint));
+ }
+
+ // Pop the last TD from the list
+ HCTD* Reverse(HCTD* current)
+ {
+ HCTD *result = NULL,*temp;
+ while (current)
+ {
+ temp = (HCTD*)current->Next;
+ current->Next = (u32)result;
+ result = current;
+ current = temp;
+ }
+ return result;
+ }
+
+ // Called from interrupt...
+ // Control endpoints use a state machine to progress through the transfers
+ void ProcessDoneQueue(u32 tdList)
+ {
+
+ LOG("<<ProcessDoneQueue enter>>\r\r\n");
+ HCTD* list = Reverse((HCTD*)tdList);
+ while (list)
+ {
+ Endpoint* endpoint = (Endpoint*)(list-1);
+ list = (HCTD*)list->Next;
+ int ep = endpoint->Address();
+ bool in = endpoint->Flags & 0x80;
+ int status = (endpoint->TDHead.Control >> 28) & 0xF;
+
+ //LOG("ProcessDoneQueue %02X %08X\r\r\n",ep,endpoint->TDHead.Control);
+
+ if (status != 0)
+ {
+ LOG("ProcessDoneQueue status %02X %d\r\r\n",ep,status);
+ LOG("CurrentState Change Idle endpoint(%d) currentState =%d\r\r\n",endpoint->Address(),endpoint->CurrentState);
+ endpoint->CurrentState = Endpoint::Idle;
+
+
+ } else {
+ switch (endpoint->CurrentState)
+ {
+ case Endpoint::SetupQueued:
+ if (endpoint->Length == 0)
+ {
+ LOG("ProcessDoneQueue endpoint->Length == 0 endpoint->CurrentState=%d\r\r\n",endpoint->CurrentState);
+ Transfer(endpoint,in ? TOKEN_OUT : TOKEN_IN,0,0,Endpoint::StatusQueued); // Skip Data Phase
+ }
+ else
+ {
+ LOG("ProcessDoneQueue endpoint->Length != 0 endpoint->CurrentState=%d\r\r\n",endpoint->CurrentState);
+ Transfer(endpoint,in ? TOKEN_IN : TOKEN_OUT,endpoint->Data,endpoint->Length, Endpoint::DataQueued); // Setup is done, now Data
+ }
+ break;
+
+ case Endpoint::DataQueued:
+ if (endpoint->TDHead.CurrBufPtr)
+ endpoint->Length = endpoint->TDHead.CurrBufPtr - (u32)endpoint->Data;
+
+ if (ep == 0)
+ {
+ LOG("ProcessDoneQueue ep == 0 endpoint->CurrentState=%d\r\r\n",endpoint->CurrentState);
+ Transfer(endpoint,in ? TOKEN_OUT : TOKEN_IN,0,0,Endpoint::StatusQueued); // Data is done, now Status, Control only
+ }
+ else
+ {
+
+ LOG("ProcessDoneQueue ep != 0 endpoint->CurrentState=%d\r\r\n",endpoint->CurrentState);
+ endpoint->CurrentState = Endpoint::Idle;
+ LOG("CurrentState Change Idle endpoint(%d) currentState =%d\r\r\n",endpoint->Address(),endpoint->CurrentState);
+ }
+ break;
+
+ case Endpoint::StatusQueued: // Transaction is done
+ LOG("CurrentState Change Idle endpoint(%d) currentState =%d\r\r\n",endpoint->Address(),endpoint->CurrentState);
+ endpoint->CurrentState = Endpoint::Idle;
+ break;
+ }
+ }
+
+ // Complete, flag if we need a callback
+ if (endpoint->Callback && endpoint->CurrentState == Endpoint::Idle)
+ {
+ endpoint->CurrentState = Endpoint::CallbackPending;
+ _callbacksPending++;
+ }
+ }
+ LOG("<<ProcessDoneQueue out>>\r\r\n");
+ }
+
+ // Hack to reset devices that don't want to connect
+ int AddDevice(int hub, int port, bool isLowSpeed)
+ {
+ int device = AddDeviceCore(hub,port,isLowSpeed);
+ if (device < 0)
+ {
+ LOG("========RETRY ADD DEVICE========\r\r\n"); // This will go for ever.. TODO power cycle root?
+ Disconnect(hub,port); // Could not read descriptor at assigned address, reset this port and try again
+ ResetPort(hub,port); // Cheap bluetooth dongles often need this on a hotplug
+ return -1;
+ }
+ return device;
+ }
+
+ int AddDeviceCore(int hub, int port, bool isLowSpeed)
+ {
+ int lowSpeed = isLowSpeed ? 0x2000 : 0;
+ DeviceDescriptor desc;
+ EndpointZero.EndpointDescriptor.Control = (8 << 16) | lowSpeed; // MaxPacketSize == 8
+ int r = GetDescriptor(0,DESCRIPTOR_TYPE_DEVICE,0,(u8*)&desc,8);
+ if (r < 0)
+ {
+ LOG("FAILED TO LOAD DESCRIPTOR FOR DEVICE 0\r\r\n");
+ return r;
+ }
+
+ EndpointZero.EndpointDescriptor.Control = (desc.bMaxPacketSize << 16) | lowSpeed; // Actual MaxPacketSize
+ r = GetDescriptor(0,DESCRIPTOR_TYPE_DEVICE,0,(u8*)&desc,sizeof(desc));
+ if (r < 0)
+ return r;
+
+ LOG("\r\nClass %02X found %04X:%04X\r\r\n",desc.bDeviceClass,desc.idVendor,desc.idProduct);
+
+ // Now assign the device an address, move off EndpointZero
+ int device = 0;
+ for (int i = 0; i < MAX_DEVICES; i++)
+ {
+ if (Devices[i].Port == 0)
+ {
+ device = i+1;
+ break;
+ }
+ }
+ if (!device)
+ return ERR_DEVICE_NONE_LEFT;
+
+ r = SetAddress(0,device);
+ if (r)
+ return r;
+ DelayMS(2);
+
+ // Now at a nonzero address, create control endpoint
+ Device* dev = &Devices[device-1];
+ dev->Init(&desc,hub,port,device,lowSpeed);
+ AddEndpoint(device,0,ENDPOINT_CONTROL,desc.bMaxPacketSize,0);
+ _connectPending = 0;
+
+ // Verify this all works
+ r = GetDescriptor(device,DESCRIPTOR_TYPE_DEVICE,0,(u8*)&desc,sizeof(desc));
+ if (r < 0)
+ return r;
+
+ // Set to interface 0 by default
+ // Calls LoadDevice if interface is found
+ r = SetConfigurationAndInterface(device,1,0,&desc);
+
+ if (desc.bDeviceClass == CLASS_HUB)
+ InitHub(device); // Handle hubs in this code
+
+ return device;
+ }
+
+ // Walk descriptors and create endpoints for a given device
+ // TODO configuration !=1, alternate settings etc.
+ int SetConfigurationAndInterface(int device, int configuration, int interfaceNumber, DeviceDescriptor* desc)
+ {
+ u8 buffer[255];
+ int err = GetDescriptor(device,DESCRIPTOR_TYPE_CONFIGURATION,0,buffer,sizeof(buffer));
+ if (err < 0)
+ return err;
+
+ err = SetConfiguration(device,configuration);
+ if (err < 0)
+ return err;
+
+ // Add the endpoints for this interface
+ int len = buffer[2] | (buffer[3] << 8);
+ u8* d = buffer;
+ u8* end = d + len;
+ InterfaceDescriptor* found = 0;
+ while (d < end)
+ {
+ if (d[1] == DESCRIPTOR_TYPE_INTERFACE)
+ {
+ InterfaceDescriptor* id = (InterfaceDescriptor*)d;
+ if (id->bInterfaceNumber == interfaceNumber)
+ {
+ found = id;
+ d += d[0];
+ while (d < end && d[1] != DESCRIPTOR_TYPE_INTERFACE)
+ {
+ switch (d[1])
+ {
+ case DESCRIPTOR_TYPE_ENDPOINT:
+ AddEndpoint(device,(EndpointDescriptor*)d);
+ break;
+ default:
+ LOG("Skipping descriptor %02X (%d bytes)\r\r\n",d[1],d[0]);
+ }
+ d += d[0];
+ }
+ }
+ }
+ d += d[0];
+ }
+
+ if (!found)
+ return ERR_INTERFACE_NOT_FOUND;
+ OnLoadDevice(device,desc,found);
+ return 0;
+ }
+
+ void Init()
+ {
+ LOG("USB INIT (Controller is %d bytes)\r\r\n",sizeof(*this));
+ memset(this,0,sizeof(HostController));
+ EndpointZero.CurrentState = Endpoint::NotQueued;
+ HWInit(&CommunicationArea);
+ DelayMS(10);
+ }
+
+ void ResetPort(int hub, int port)
+ {
+ LOG("ResetPort Hub:%d Port:%d\r\r\n",hub,port);
+ _connectPending++; // Only reset/add 1 device at a time
+ if (hub == 0)
+ LPC_USB->HcRhPortStatus1 = PortResetStatus; // Reset Root Hub, port 1
+ else
+ SetPortReset(hub,port); // or reset other hub
+ }
+
+ void Disconnect(int hub, int port)
+ {
+ LOG("Disconnect Hub:%d Port:%d\r\r\n",hub,port); // Mark a device for destruction
+ for (int i = 0; i < MAX_DEVICES; i++)
+ {
+ Device* dev = Devices + i;
+ if (dev->Port == port && dev->Hub == hub)
+ {
+ // Disconnect everything that is attached to this device if it is a hub
+ for (int p = 0; p < dev->HubPortCount; p++)
+ Disconnect(i+1,p+1);
+
+ // Now release endpoints
+ for (int j = 1; j < MAX_ENDPOINTS_PER_DEVICE*2; j += 2)
+ {
+ u8 endpointIndex = dev->_endpointMap[j];
+ if (endpointIndex != 0xFF)
+ Release(Endpoints + endpointIndex);
+ }
+ dev->Port = 0; // Device is now free
+ dev->Flags = 0;
+ return;
+ }
+ }
+ }
+
+ // called after reset
+ void Connect(int hub, int port, bool lowspeed)
+ {
+ LOG("Connect Hub:%d Port:%d %s\r\r\n",hub,port,lowspeed ? "slow" : "full");
+ AddDevice(hub,port,lowspeed);
+ }
+
+ // Called from interrupt
+ void HubStatusChange(int hub, int port, u32 status)
+ {
+ LOG("HubStatusChange Hub:%d Port:%d %08X\r\r\n",hub,port,status);
+ if (status & ConnectStatusChange)
+ {
+ if (status & CurrentConnectStatus) // Connecting
+ ResetPort(hub,port); // Reset to initiate connect (state machine?)
+ else
+ Disconnect(hub,port);
+ }
+
+ if (status & PortResetStatusChange)
+ {
+ if (!(status & PortResetStatus))
+ {
+ _connectCountdown = 200; // Schedule a connection in 200ms
+ if (status & LowspeedDevice)
+ port |= 0x80;
+ _connectHub = hub;
+ _connectPort = port;
+ }
+ }
+ }
+
+ #define HOST_CLK_EN (1<<0)
+ #define PORTSEL_CLK_EN (1<<3)
+ #define AHB_CLK_EN (1<<4)
+ #define CLOCK_MASK (HOST_CLK_EN | PORTSEL_CLK_EN | AHB_CLK_EN)
+
+ #define FRAMEINTERVAL (12000-1) // 1ms
+ #define DEFAULT_FMINTERVAL ((((6 * (FRAMEINTERVAL - 210)) / 7) << 16) | FRAMEINTERVAL)
+
+ void DelayMS(int ms)
+ {
+ u16 f = ms + CommunicationArea.FrameNumber;
+ while (f != CommunicationArea.FrameNumber)
+ ;
+ }
+
+ static void HWInit(HCCA* cca)
+ {
+ NVIC_DisableIRQ(USB_IRQn);
+
+ // turn on power for USB
+ LPC_SC->PCONP |= (1UL<<31);
+ // Enable USB host clock, port selection and AHB clock
+ LPC_USB->USBClkCtrl |= CLOCK_MASK;
+ // Wait for clocks to become available
+ while ((LPC_USB->USBClkSt & CLOCK_MASK) != CLOCK_MASK)
+ ;
+
+ // We are a Host
+ LPC_USB->OTGStCtrl |= 1;
+ LPC_USB->USBClkCtrl &= ~PORTSEL_CLK_EN; // we don't need port selection clock until we do OTG
+
+ // configure USB pins
+ LPC_PINCON->PINSEL1 &= ~((3<<26)|(3<<28));
+ LPC_PINCON->PINSEL1 |= ((1<<26)|(1<<28)); // USB D+/D-
+
+ LPC_PINCON->PINSEL3 &= ~((3 << 6) | (3 << 22)); // USB_PPWR, USB_OVRCR
+ LPC_PINCON->PINSEL3 |= ((2 << 6) | (2 << 22));
+
+ LPC_PINCON->PINSEL4 &= ~(3 << 18); // USB_CONNECT
+ LPC_PINCON->PINSEL4 |= (1 << 18);
+
+ // Reset OHCI block
+ LPC_USB->HcControl = 0;
+ LPC_USB->HcControlHeadED = 0;
+ LPC_USB->HcBulkHeadED = 0;
+
+ LPC_USB->HcCommandStatus = HostControllerReset;
+ LPC_USB->HcFmInterval = DEFAULT_FMINTERVAL;
+ LPC_USB->HcPeriodicStart = FRAMEINTERVAL*90/100;
+
+ LPC_USB->HcControl = (LPC_USB->HcControl & (~HostControllerFunctionalState)) | OperationalMask;
+ LPC_USB->HcRhStatus = SetGlobalPower;
+
+ LPC_USB->HcHCCA = (u32)cca;
+ LPC_USB->HcInterruptStatus |= LPC_USB->HcInterruptStatus;
+ LPC_USB->HcInterruptEnable = MasterInterruptEnable | WritebackDoneHead | RootHubStatusChange | FrameNumberOverflow;
+
+ NVIC_SetPriority(USB_IRQn, 0);
+ NVIC_EnableIRQ(USB_IRQn);
+ while (cca->FrameNumber < 10)
+ ; // 10ms delay before diving in
+ }
+};
+
+//====================================================================================
+//====================================================================================
+// Host controller instance and Interrupt handler
+
+static HostController _controller __attribute__((at(USB_RAM_BASE)));
+
+extern "C" void USB_IRQHandler(void) __irq;
+void USB_IRQHandler (void) __irq
+{
+LOG("USB_IRQHandler start \r\r\n");
+ u32 int_status = LPC_USB->HcInterruptStatus;
+ LOG("USB_IRQHandler int_status=%0x\r\r\n",int_status);
+
+ if(int_status & UnrecoverableError) //Error
+ {
+ LOG("USB_IRQHandler UnrecoverableError Please reset\r\r\n");
+ }
+
+ if(int_status & MasterInterruptEnable)
+ {
+ LOG("USB_IRQHandler MasterInterruptEnable\r\r\n");
+ }
+
+ if(int_status &OwnershipChange)
+ {
+ LOG("USB_IRQHandler OwnershipChange\r\r\n");
+ }
+
+ if(int_status &FrameNumberOverflow)
+ {
+ LOG("USB_IRQHandler FrameNumberOverflow\r\r\n");
+ }
+ if(int_status&ResumeDetected)
+ {
+ LOG("USB_IRQHandler ResumeDetected\r\r\n");
+ }
+ if(int_status&StartofFrame)
+ {
+ LOG("USB_IRQHandler StartofFrame\r\r\n");
+ }
+
+
+ if (int_status & RootHubStatusChange) // Root hub status change
+ {
+ LOG("USB_IRQHandler _rootHubStatusChange %0x->%0x \r\r\n", _controller._rootHubStatusChange, _controller._rootHubStatusChange+1);
+ _controller._rootHubStatusChange++; // Just flag the controller, will be processed in USBLoop
+ }
+
+ u32 head = 0;
+ if (int_status & WritebackDoneHead)
+ {
+ head = _controller.CommunicationArea.DoneHead; // Writeback Done
+ _controller.CommunicationArea.DoneHead = 0;
+ LOG("USB_IRQHandler head=%0x\r\r\n",head);
+ }
+ LPC_USB->HcInterruptStatus = int_status;
+
+ if (head)
+ _controller.ProcessDoneQueue(head); // TODO - low bit can be set BUGBUG
+LOG("USB_IRQHandler end \r\r\n");
+}
+
+//====================================================================================
+//====================================================================================
+// API Methods
+
+void USBInit()
+{
+ return _controller.Init();
+}
+
+void USBLoop()
+{
+ return _controller.Loop();
+}
+
+u8* USBGetBuffer(u32* len)
+{
+ *len = USB_RAM_SIZE - sizeof(HostController);
+ return _controller.SRAM;
+}
+
+static Setup* GetSetup(int device)
+{
+ if (device == 0)
+ return &_controller._setupZero;
+
+ if (device < 1 || device > MAX_DEVICES)
+ return 0;
+ return &_controller.Devices[device-1].SetupBuffer;
+}
+
+// Loop until IO on endpoint is complete
+static int WaitIODone(Endpoint* endpoint)
+{
+ LOG("WaitIODone start\r\r\n");
+ if (endpoint->CurrentState == Endpoint::NotQueued)
+ return 0;
+ while (endpoint->CurrentState != Endpoint::Idle)
+ {
+ LOG("WaitIODone goto USBloop endpoint->CurrentState =%d \r\r\n",endpoint->CurrentState);
+ USBLoop(); // May generate callbacks, mount or unmount devices etc
+ }
+ int status = endpoint->Status();
+
+ LOG("WaitIODone end\r\r\n");
+ if (status == 0)
+ return endpoint->Length;
+ return -status;
+}
+
+int USBTransfer(int device, int ep, u8 flags, u8* data, int length, USBCallback callback, void* userData)
+{
+ //LOG("USBTRANSFER start\r\r\n");
+ Endpoint* endpoint = _controller.GetEndpoint(device,ep);
+ if (!endpoint)
+ {
+ LOG("USBTRANSFER error Endpoint not found!!\r\r\n");
+ return ERR_ENDPOINT_NOT_FOUND;
+ }
+
+ //LOG("USBTRANSFER run01\r\r\n");
+ WaitIODone(endpoint);
+ endpoint->Flags = flags;
+ endpoint->Data = data;
+ endpoint->Length = length;
+ endpoint->Callback = callback;
+ endpoint->UserData = userData;
+ //LOG("USBTRANSFER run02\r\r\n");
+ if (ep == 0)
+ {
+ LOG("USBTRANSFER ep == 0(Setup) ------------------------------\r\r\n");
+ _controller.Transfer(endpoint,TOKEN_SETUP,(u8*)GetSetup(device),8,Endpoint::SetupQueued);
+ }
+ else
+ {
+ LOG("USBTRANSFER ep != 0\r\r\n");
+ _controller.Transfer(endpoint,flags & 0x80 ? TOKEN_IN : TOKEN_OUT,data,length,Endpoint::DataQueued);
+ }
+ if (callback)
+ {
+ LOG("USBTRANSFER end io_pending\r\r\n");
+ return IO_PENDING;
+ }
+ LOG("USBTRANSFER end wait io done \r\r\n");
+ return WaitIODone(endpoint);
+}
+
+int USBControlTransfer(int device, int request_type, int request, int value, int index, u8* data, int length, USBCallback callback, void * userData)
+{
+ Setup* setup = GetSetup(device);
+ if (!setup)
+ return ERR_DEVICE_NOT_FOUND;
+
+ // Async control calls may overwrite setup buffer of previous call, so we need to wait before setting up next call
+ WaitIODone(_controller.GetEndpoint(device,0));
+
+ setup->bm_request_type = request_type;
+ setup->b_request = request;
+ setup->w_value = value;
+ setup->w_index = index;
+ setup->w_length = length;
+ LOG("USBControlTransfer(device=%d,reqtype=%d,req=%d,value=%d,index=%d,data=%p,len=%d,callbak=%p,udata=%p)\r\r\n",
+ device,request_type,request,value,index,data,length,callback,userData);
+ return USBTransfer(device,0,request_type & DEVICE_TO_HOST,data,length,callback,userData);
+}
+
+int USBInterruptTransfer(int device, int ep, u8* data, int length, USBCallback callback, void* userData)
+{
+ return USBTransfer(device,ep,(ep & 0x80) | ENDPOINT_INTERRUPT,data,length,callback,userData);
+}
+
+int USBBulkTransfer(int device, int ep, u8* data, int length, USBCallback callback, void* userData)
+{
+ return USBTransfer(device,ep,(ep & 0x80) | ENDPOINT_BULK,data,length,callback,userData);
+}
+
+int GetDescriptor(int device, int descType,int descIndex, u8* data, int length)
+{
+ return USBControlTransfer(device,DEVICE_TO_HOST | RECIPIENT_DEVICE, GET_DESCRIPTOR,(descType << 8)|(descIndex), 0, data, length, 0);
+}
+
+int GetString(int device, int index, char* dst, int length)
+{
+ u8 buffer[255];
+ int le = GetDescriptor(device,DESCRIPTOR_TYPE_STRING,index,buffer,sizeof(buffer));
+ if (le < 0)
+ return le;
+ if (length < 1)
+ return -1;
+ length <<= 1;
+ if (le > length)
+ le = length;
+ for (int j = 2; j < le; j += 2)
+ *dst++ = buffer[j];
+ *dst = 0;
+ return (le>>1)-1;
+}
+
+int SetAddress(int device, int new_addr)
+{
+ return USBControlTransfer(device,HOST_TO_DEVICE | RECIPIENT_DEVICE, SET_ADDRESS, new_addr, 0, 0, 0, 0);
+}
+
+int SetConfiguration(int device, int configNum)
+{
+ return USBControlTransfer(device,HOST_TO_DEVICE | RECIPIENT_DEVICE, SET_CONFIGURATION, configNum, 0, 0, 0, 0);
+}
+
+int SetInterface(int device, int ifNum, int altNum)
+{
+ return USBControlTransfer(device,HOST_TO_DEVICE | RECIPIENT_INTERFACE, SET_INTERFACE, altNum, ifNum, 0, 0, 0);
+}
+
+// HUB stuff
+int SetPortFeature(int device, int feature, int index)
+{
+ return USBControlTransfer(device,HOST_TO_DEVICE | REQUEST_TYPE_CLASS | RECIPIENT_OTHER,SET_FEATURE,feature,index,0,0);
+}
+
+int ClearPortFeature(int device, int feature, int index)
+{
+ return USBControlTransfer(device,HOST_TO_DEVICE | REQUEST_TYPE_CLASS | RECIPIENT_OTHER,CLEAR_FEATURE,feature,index,0,0);
+}
+
+int SetPortPower(int device, int port)
+{
+ int r = SetPortFeature(device,PORT_POWER,port);
+ _controller.DelayMS(20); // 80ms to turn on a hubs power... DESCRIPTOR? todo
+ return r;
+}
+
+int SetPortReset(int device, int port)
+{
+ return SetPortFeature(device,PORT_RESET,port);
+}
+
+int GetPortStatus(int device, int port, u32* status)
+{
+ return USBControlTransfer(device,DEVICE_TO_HOST | REQUEST_TYPE_CLASS | RECIPIENT_OTHER,GET_STATUS,0,port,(u8*)status,4);
+}
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/MicroBridge/androidADB.cpp Fri May 03 08:35:29 2013 +0000
@@ -0,0 +1,135 @@
+#include "androidADB.h"
+
+Connection * connection;
+
+/** @brief Desired position in meters for x-coordinate, given by android */
+float androidx;
+
+/** @brief Desired position in meters for y-coordinate, given by android */
+float androidy;
+
+/** @brief Desired position in degrees for theta, given by android */
+float androidt;
+
+/** @brief Indicates if a ADB connection to a android phone is established */
+boolean androidConnected;
+
+void Tokenize(const string& str,
+ vector<string>& tokens,
+ const string& delimiters /*= " "*/)
+{
+ // Skip delimiters at beginning.
+ string::size_type lastPos = str.find_first_not_of(delimiters, 0);
+ // Find first "non-delimiter".
+ string::size_type pos = str.find_first_of(delimiters, lastPos);
+
+ while (string::npos != pos || string::npos != lastPos) {
+ // Found a token, add it to the vector.
+ tokens.push_back(str.substr(lastPos, pos - lastPos));
+ // Skip delimiters. Note the "not_of"
+ lastPos = str.find_first_not_of(delimiters, pos);
+ // Find next "non-delimiter"
+ pos = str.find_first_of(delimiters, lastPos);
+ }
+}
+
+void adbEventHandler(Connection * connection, adb_eventType event, uint16_t length, uint8_t * data)
+{
+
+ if (event == ADB_CONNECTION_OPEN) {
+ androidConnected = true;
+ //pc.printf("Android Connected\n");
+ } else if (event == ADB_CONNECTION_CLOSE) {
+ androidConnected = false;
+ //pc.printf("Android Disonnected\n");
+ }
+
+ if (event == ADB_CONNECTION_RECEIVE) {
+ parseMessage(length, data);
+
+ }
+}
+
+void parseMessage(uint16_t length, uint8_t * data)
+{
+ //received = "[ADB RECV]"; printf("[ADB RECV]:%d %d\r\n",data[0],data[1]);
+
+ char str[32];
+
+ // convert buffer (unsigned char) to char
+ sprintf( str, "%s", data);
+
+ // new vector of strings
+ vector<string> tokens;
+
+ // tokenize the string with the semicolon separator
+ Tokenize(str, tokens, ";");
+ copy(tokens.begin(), tokens.end(), ostream_iterator<string>(cout, ", "));
+
+ if(tokens.size() > 2) {
+
+ //string to float
+ androidx = ::atof(tokens.at(0).c_str());
+ androidy = ::atof(tokens.at(1).c_str());
+ androidt = ::atof(tokens.at(2).c_str());
+
+ //pc.printf("Android x(%d): %f\n\r\n",length,x);
+ //pc.printf("Android y(%d): %f\n\r\n",length,y);
+ //pc.printf("Android t(%d): %f\n\r\n",length,t);
+ } else {
+ //pc.printf("Android sayys(%d): %s\n\r\n",length,str);
+ }
+
+}
+
+void connect()
+{
+ ADB::poll();
+ //pc.printf("connecting...");
+ char c = 'c';
+ connection->write(sizeof(c), (unsigned char*)&c);
+ //wait(0.5);
+}
+
+/*int main()
+{
+
+ pc.baud(460800);
+
+ pc.printf("********************* MicroBridge 4568 ********************************\n\r");
+
+ // Initialise the ADB subsystem.
+ ADB::init();
+
+ // Open an ADB stream on tcp port 4568. Auto-reconnect
+ connection = ADB::addConnection("tcp:4568", true, adbEventHandler);
+
+ // Connecting to android
+ while(!(androidConnected)) {
+ connect();
+ wait(0.5);
+ }
+
+ pc.printf("connection isOpen\n");
+
+ float flt = 0.0;
+ float flt2 = 0.2;
+ float flt3 = 1.2;
+
+ while(1) {
+
+ ADB::poll();
+
+ flt = flt - 0.1;
+ flt2 = flt2 + 0.2;
+ flt3 = flt3 - 0.05;
+
+ char str[32];
+ sprintf( str, "%f;%f;%f;", flt, flt2, flt3);
+
+ pc.printf("Sending: %s\n\r",str);
+ connection->write(sizeof(str),(unsigned char*)&str);
+ wait(1);
+
+ }
+}*/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MicroBridge/androidADB.h Fri May 03 08:35:29 2013 +0000 @@ -0,0 +1,28 @@ +#ifndef _ANDROIDADB_H_ +#define _ANDROIDADB_H_ + +#include "mbed.h" +#include "Adb.h" +#include "defines.h" + +#include <string> +#include <sstream> +#include <vector> +#include <iostream> +#include <stdlib.h> + +/** + * @brief Takes an string, a vector of strings for the delimited tokens, and a with the + * @param str + * @param tokens + * @param delimiters + */ +void Tokenize(const string& str, + vector<string>& tokens, + const string& delimiters = " "); + + void parseMessage(uint16_t length, uint8_t * data); + +void connect(); + +#endif \ No newline at end of file
--- a/defines.h Fri Apr 26 06:36:57 2013 +0000
+++ b/defines.h Fri May 03 08:35:29 2013 +0000
@@ -4,7 +4,6 @@
/*! \file defines.h
\brief All defines for the roboter you can see here.
*/
-
#include "mbed.h"
/**
@@ -266,4 +265,6 @@
float delta;
} state_t;
+
+
#endif
--- a/main.cpp Fri Apr 26 06:36:57 2013 +0000
+++ b/main.cpp Fri May 03 08:35:29 2013 +0000
@@ -1,3 +1,4 @@
+
/*! \mainpage Index Page
* @author Christian Burri
* @author Arno Galliker
@@ -36,6 +37,7 @@
#include "defines.h"
#include "State.h"
#include "RobotControl.h"
+#include "androidADB.h"
//#include "android.h"
/**
@@ -110,7 +112,7 @@
// @todo PC USB communications DAs wird danach gelöscht
-//Serial pc(USBTX, USBRX);
+Serial pc(USBTX, USBRX);
/**
* @brief Main function. Start the Programm here.
@@ -156,7 +158,7 @@
*/
// Epä Parkour fahrä
-
+ /*
robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2);
wait(0.1);
@@ -204,7 +206,7 @@
while(!(s.millis >= 32000)) {
state.savePlotFile(s);
}
-
+*/
/*
while (1) {
@@ -227,6 +229,9 @@
/**
* Close the File PLOTS.txt to read the file after with the computer and draw a diagramm
*/
+
+
+
state.savePlotFile(s);
state.closePlotFile();
state.stop();